Would putting a Guinness beer poster or any other poster on the wall in a video on youtube be considered copyright infringement? Or am I protected under the fair use policy? If I became a youtube partner, I would be making money off the video. But I wouldn't be taking any money away from Guinness. I wouldn't be making any money at Guinness's expense.

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could be an infringement - probably not copyright so much as trademark. I am working on a lowbudget film right now, and all props with logos (such as a home coffeemaker) will be staged such that the logo is not visible to the camera. sooner or later, someone is going to make some money off a video with a violation, and then the lawyers will come a'calling.