Scifresh Apple Orignial and DepthFilter RGB Images

Dataset comprises 1,600 images. Image data were collected during two harvesting seasons (2017 and 2018) in a commercial orchard from a fixed distance of 0.5 m using an RGB-D camera. A series of sensor data were acquired, including aligned RGB and depth information. Trees and apples from nontarget rows in the RGB images (i.e. Original-RGB images) were removed using the depth feature with a distance threshold of 1.2 m (i.e. Foreground-RGB images).