Amodal_Fruit_Sizing

We provide a deep-learning method to better estimate the size of partially occluded apples. The method is based on ORCNN (https://github.com/waiyulam/ORCNN) and sizecnn (https://git.wur.nl/blok012/sizecnn), which extended Mask R-CNN network to simultaneously perform modal and amodal instance segmentation. The amodal mask is used to estimate the fruit diameter in pixels, while the modal mask is used to measure in the depth map the distance between the detected fruit and the camera and calculate the fruit diameter in mm by applying the pinhole camera model.