Re: Legislation may not be required
Sort of covered, See http://www.bmfa.org/Multi-Rotors/tabid/1425/Default.aspx
Need to be below a set weight, to be classed as a model, and your subject to the Air Navigation laws. (so are prohibited from acting like a loon and endangering anyone or anything) and filming for commercial use is prohibited without a license.
In terms of flying over people, looking in houses etc then existing laws say you cannot fly within 150m of a congested areas (but does not define what congested means), closer than 50m to vehicle , vessel or structure, or 30m of a person who is not involved with that flight (with the exception of the pilot at take off / landing time) and you always have to be in line of sight to the drone.
That said while us modellers may follow the rules others won't, the drones are cheap enough to be bought on a whim (my wife won't agree) and you need no training or insurance to fly one.
And yes I'd like one, but can't justify it at home....