Unmanned aerial systems (UASs) and photogrammetric structure from motion (SFM) algorithms can assist in biomass assessments in tropical countries and can be a useful tool in local greenhouse gas accounting. This study assessed the influence of image resolution, camera type and side overlap on prediction accuracy of biomass models constructed from ground-based data and UAS data in miombo woodlands in Malawi. We compared prediction accuracy of models reflecting two different image resolutions (10 and 15 cm ground sampling distance) and two camera types (NIR and RGB). The effect of two different side overlap levels (70 and 80%) was also assessed using data from the RGB camera. Multiple linear regression models that related the biomass on 37 field plots to several independent 3-dimensional variables derived from five UAS acquisitions were constructed. Prediction accuracy quantified by leave-one-out cross validation increased when using finer image resolution and RGB camera, while coarser resolution and NIR data decreased model prediction accuracy, although no significant differences were observed in absolute prediction error around the mean between models. The results showed that a reduction of side overlap from 80 to 70%, while keeping a fixed forward overlap of 90%, might be an option for reducing flight time and cost of acquisitions. Furthermore, the analysis of terrain slope effect in biomass predictions showed that error increases with steeper slopes, especially on slopes greater than 35%, but the effects were small in magnitude.