We propose a 3D colour point cloud processing pipeline to count apples on individual apple trees in trellis structured orchards. Fruit counting at the tree level requires separating trees, which is challenging in dense orchards. We employ point clouds acquired from the leaf-off orchard in winter period, where the branch structure is visible, to delineate tree crowns. We localise apples in point clouds acquired in harvest period. Alignment of the two point clouds enables mapping apple locations to the delineated winter cloud and assigning each apple to its bearing tree. Our apple assignment method achieves an accuracy rate higher than 95%. In addition to presenting a first proof of feasibility, we also provide suggestions for further improvement on our apple assignment pipeline.

我们提出了一个 3D 彩色点云处理管道来计算格状结构果园中单个苹果树上的苹果。在树级别进行水果计数需要分离树木，这在密集的果园中具有挑战性。我们使用从冬季落叶果园中获取的点云，在那里可以看到树枝结构，以描绘树冠。我们在收获期获得的点云中定位苹果。两个点云的对齐能够将苹果位置映射到描绘的冬季云并将每个苹果分配给它的轴承树。我们的苹果分配方法的准确率高于 95%。除了提供第一个可行性证明之外，我们还提供了进一步改进我们的苹果分配管道的建议。