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Precise application of plant protection products (PPPs) is a challenging task for fruit growing. In future, the application should be adapted to the leaf area for improving the safety of food, user and environment. This requires site-specific information of fruit wall geometries. To achieve this, structural tree parameters were determined in advance by using autonomously flying robots (UAV) and photogrammetric methods. Results showed that it is possible to extract tree heights from 3D point clouds of an apple orchard using an individually designed UAV flight campaign with oblique camera views but it still fails to resolve fine shoots of the trees.