Vision-Based UAV Navigation in Orchards**This work is supported in part by NSF Awards 1111638, 1525045 and the MnDrive initiative. The authors thank Professors Emily Hoover, Cindy Tong and James Luby from the Department of Horticultural Science, University of Minnesota for access to their orchards and useful discussions. We also thank Dr. Krishna Doddapaneni for his help with the experiments.