An apparatus for visual navigation of a UAV includes a geo-fiducial mat and a plurality of geo-fiducials. The geo-fiducial mat includes a landing pad region that provides a location for aligning with a landing pad of a UAV. The geo-fiducials each includes a two-dimensional (2D) pattern that visually conveys a code. The 2D pattern has a shape from which a visual navigation system of the UAV can visually triangulate a position of the UAV.