Digitized pear and peach trees with fruits

The dataset contains files with sets of point coordinates derived via manual digitization of entire trees and all fruits on them. Twenty Bartlett pear and twenty cling-peach trees were digitized. Digitization was restricted to rigid, thick branches (> 2.5 cm) that present obstacles to machinery interacting with trees; robotic harvesting simulation and design were the targeted applications. Each branch segment that had small enough curvature was considered linear and was approximated by a conical frustum. Hence, an entire tree is represented geometrically by a set of connected frustums. The tree geometries and topologies were successfully encoded, and position RMS accuracy was better than 1.0 cm.