Recognition of Three-Dimensional Branch Structure and Fruits Identification in a Tree Based on It

  • Yuya Yumoto
  • Ikuo MizuuchiEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


This paper describes a method to recognize a branch structure of a fruit tree. We can identify fruits and branches using the branch structure. Identification of them enables us to gather data of each fruit and branch. Collected data can be utilized for growing management and sales. We describe a method to obtain three-dimensional branch structure from the point cloud. We succeeded in recognizing a simple dummy fruit tree. We propose a method to stably recognize the same branch structure. We also tested the recognizing algorithm using a real fruit tree (a persimmon tree). We could recognize correct branches from point clouds that did not have an occlusion area and unnecessary points such as leaves.


Cultivation management Identification of fruits Branch structure Point cloud 

Supplementary material

Supplementary material 1 (wmv 7146 KB)


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Tokyo University of Agriculture and TechnologyTokyoJapan

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