I don't think you can legally do what you're doing. But, most people do it anyway.
My neighbor and a few other people I've met over the past few months are using drones for the same type of thing.. Just to help them w/ their existing business, and they are not geeks or in to RC/Drones for any other reasons, and have absolutely no idea about any of the FAA regulations.. it's just not on their radar in any way.. They use their drones on a weekly basis, completely oblivious to the regulations.
I think the FAA's vision, is to have big overseeing drone companies, and when a small business like yours wants something done, you'd have to pay that drone company.
But, luckily, I think the consumer drone market is developing faster than the FAA can wrap their minds around this new technology, and soon, they will have to bend to the will of the masses, and hopefully allow limited professional uses like these.
Sorry, I just re-read your post and see you're asking for a 'good' answer, which I cannot give :).
According to the FAA, you still need a 333 and a COA to do what you are doing. Even if you are not charging for the service, you are using it for commercial purposes. So yes, you do need a 333 and a COA according to the FAA.
That being said, they have stated that they don't have the resources to enforce their current regulations, and they haven't had much luck enforcing them in the judicial system. Most of us don't encourage ignoring FAA regulations, but that's mainly due to concerns with masses of people flying them, completely oblivious to safety concerns.
Summary - Yes, you need a 333. No, you probably won't end up in court.
Your machine will be approved, you need to get an N number as well don't forget. I assume you have a sport pilots licence or PPL already as the person flying the RPA needs to have one of those.
There is a whitepaper available here - www.mynameisdrone.com - for the lawful use of sUAS in the real estate market. good luck!
According to the FAA - the operation you describe would be a commercial flight.
To completely legally operate the drone to assist your business you need two things: A Section 333 exemption letter and an airman's certificate (AKA Pilot License).
Many small businesses do this routinely without the above documents, and if you don't crash, post your work online or otherwise gain the attention of the FAA, how would they ever know?
If you have any kind of airman's certificate (the FAA does not issue licenses, they issue certificates), then there are rules against flying for commercial purposes. If you aren't certificated, there are no rules prohibiting commercial flight.
The Part 107 rules for commercial drone operations are expected to be finalized sometime in 2016. This will greatly simplify the operating rules, but an airman's certificate will still be required. However, Part 107 rules creates a new operator certificate for small UAS operators. You need only pass a written test to obtain this new operator's certificate. You won't have to learn to fly a Cessna.
Is this the FAA's real agenda? I don't believe the FAA will stop at just registration.
Excellent video by IBCrazy:
Kris, looks like you would need an exemption based on "compensation for hire" or "furtherance of a business." If you haven't already, you can do it yourself with a downloadable or mail-able Section 333 Exemption Petition DIY Kit or we can file for you. You will also need to register each aircraft and have those documents on hand in case law enforcement or an FAA Administrator would show up. If you need anything related to exemptions, registrations, etc. you can PM me directly or check out http://uasexemptions.com