{"id":"https://openalex.org/W7148415365","doi":"https://doi.org/10.1016/j.compag.2026.111723","title":"Horticultural temporal fruit monitoring via 3D instance segmentation and re-identification using colored point clouds","display_name":"Horticultural temporal fruit monitoring via 3D instance segmentation and re-identification using colored point clouds","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148415365","doi":"https://doi.org/10.1016/j.compag.2026.111723"},"language":"en","primary_location":{"id":"doi:10.1016/j.compag.2026.111723","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.111723","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.compag.2026.111723","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051258355","display_name":"Daniel Fusaro","orcid":"https://orcid.org/0009-0000-4053-5577"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Daniel Fusaro","raw_affiliation_strings":["University of Padova, Italy"],"affiliations":[{"raw_affiliation_string":"University of Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042093536","display_name":"Federico Magistri","orcid":"https://orcid.org/0000-0003-2815-5760"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Magistri","raw_affiliation_strings":["Center for Robotics, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["Center for Robotics, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021255100","display_name":"Alberto Pretto","orcid":"https://orcid.org/0000-0003-1920-2887"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Pretto","raw_affiliation_strings":["University of Padova, Italy"],"affiliations":[{"raw_affiliation_string":"University of Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5132827224","display_name":"Cyrill Stachniss","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Center for Robotics, University of Bonn, Germany","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051258355"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":{"value":3680,"currency":"USD","value_usd":3680},"apc_paid":{"value":3680,"currency":"USD","value_usd":3680},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.87711221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"247","issue":null,"first_page":"111723","last_page":"111723"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.6288999915122986,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.6288999915122986,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.04149999842047691,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.032499998807907104,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/colored","display_name":"Colored","score":0.6888999938964844},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6658999919891357},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6589999794960022},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4625000059604645},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.43790000677108765},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43459999561309814}],"concepts":[{"id":"https://openalex.org/C2778307483","wikidata":"https://www.wikidata.org/wiki/Q5149038","display_name":"Colored","level":2,"score":0.6888999938964844},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6658999919891357},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6589999794960022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6553999781608582},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6365000009536743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5364999771118164},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4625000059604645},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.43790000677108765},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43459999561309814},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3034000098705292},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C114996537","wikidata":"https://www.wikidata.org/wiki/Q4854529","display_name":"Colors of noise","level":3,"score":0.259799987077713},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2581999897956848}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/j.compag.2026.111723","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.111723","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3589319","is_oa":true,"landing_page_url":"https://hdl.handle.net/11577/3589319","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1016/j.compag.2026.111723","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.111723","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.7191702723503113}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W2067191022","https://openalex.org/W2109934232","https://openalex.org/W2161558103","https://openalex.org/W2625071945","https://openalex.org/W2795587607","https://openalex.org/W2809489825","https://openalex.org/W2910628332","https://openalex.org/W2912583782","https://openalex.org/W2949676527","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2966593772","https://openalex.org/W2979750740","https://openalex.org/W2998489076","https://openalex.org/W2998587218","https://openalex.org/W2999219213","https://openalex.org/W3006848783","https://openalex.org/W3011638763","https://openalex.org/W3030614734","https://openalex.org/W3082872030","https://openalex.org/W3132005273","https://openalex.org/W3135244230","https://openalex.org/W3157866637","https://openalex.org/W3164040222","https://openalex.org/W3174527233","https://openalex.org/W3175851321","https://openalex.org/W3186678659","https://openalex.org/W3205636718","https://openalex.org/W3206790307","https://openalex.org/W3215736044","https://openalex.org/W4200150166","https://openalex.org/W4211222846","https://openalex.org/W4308156238","https://openalex.org/W4315783786","https://openalex.org/W4383097605","https://openalex.org/W4383109105","https://openalex.org/W4386281892","https://openalex.org/W4386318703","https://openalex.org/W4388802791","https://openalex.org/W4389666248","https://openalex.org/W4392267328","https://openalex.org/W4395664744","https://openalex.org/W4397031814","https://openalex.org/W4399523369","https://openalex.org/W4399563945","https://openalex.org/W4400228811","https://openalex.org/W4401049950","https://openalex.org/W4401216531","https://openalex.org/W4402716329","https://openalex.org/W4402727277","https://openalex.org/W4405785998"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"and":[1,31,57,105,160,172,177,183,209,223,234,252],"consistent":[2],"fruit":[3,26,54,179,196,248],"monitoring":[4,180,249],"over":[5,65],"time":[6],"is":[7,19,137],"a":[8,50,86,103,109,140,190,220],"key":[9],"step":[10],"towards":[11],"automated":[12],"agricultural":[13],"production":[14],"systems.":[15],"However,":[16],"this":[17,46],"task":[18],"inherently":[20],"difficult":[21],"due":[22],"to":[23,93,194],"variations":[24],"in":[25,168,198,250],"size,":[27],"shape,":[28],"occlusion,":[29],"orientation,":[30],"the":[32,94,145],"dynamic":[33,184],"nature":[34],"of":[35,158],"orchards":[36],"where":[37],"fruits":[38,84,117,129,204,216],"may":[39],"appear":[40],"or":[41],"disappear":[42],"between":[43],"observations.":[44],"In":[45],"article,":[47],"we":[48,101,121],"propose":[49,189],"novel":[51],"method":[52,90,239],"for":[53],"instance":[55,88,170,207],"segmentation":[56,89,171,208],"re-identification":[58],"on":[59,71,155,231],"3D":[60,78,110,211,221],"terrestrial":[61],"point":[62,74,95,212],"clouds":[63],"collected":[64],"time.":[66,150],"Our":[67,243],"approach":[68,154,193,244],"directly":[69,92],"operates":[70],"dense":[72],"colored":[73],"clouds,":[75],"capturing":[76],"fine-grained":[77],"spatial":[79],"detail.":[80],"We":[81,151,188],"segment":[82],"individual":[83],"using":[85,108,139,205],"learning-based":[87,206],"applied":[91],"cloud.":[96],"For":[97],"each":[98],"segmented":[99],"fruit,":[100],"extract":[102],"compact":[104],"discriminative":[106],"descriptor":[107],"sparse":[111],"convolutional":[112],"neural":[113],"network.":[114],"To":[115],"track":[116],"across":[118,149,181],"different":[119],"times,":[120],"introduce":[122],"an":[123],"attention-based":[124],"matching":[125],"network":[126],"that":[127,163],"associates":[128],"with":[130],"their":[131],"counterparts":[132],"from":[133],"previous":[134],"sessions.":[135],"Matching":[136],"performed":[138],"probabilistic":[141],"assignment":[142],"scheme,":[143],"selecting":[144],"most":[146],"likely":[147],"associations":[148],"evaluate":[152],"our":[153,238],"real-world":[156],"datasets":[157,236],"strawberries":[159],"apples,":[161],"demonstrating":[162],"it":[164],"outperforms":[165,240],"existing":[166],"methods":[167],"both":[169],"temporal":[173,247],"re-identification,":[174],"enabling":[175],"robust":[176],"precise":[178,246],"complex":[182,253],"orchard":[185],"environments.":[186],"\u2022":[187,201,214,229,242],"new":[191],"performant":[192],"autonomous":[195],"tracking":[197],"real":[199,232,251],"greenhouses.":[200],"It":[202],"segments":[203],"RGB":[210],"clouds.":[213],"Segmented":[215],"are":[217],"encoded":[218],"by":[219],"CNN":[222],"matched":[224],"via":[225],"attentive":[226],"data":[227],"association.":[228],"Experiments":[230],"strawberry":[233],"apple":[235],"show":[237],"others.":[241],"enables":[245],"scenarios.":[254]},"counts_by_year":[],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2026-04-03T00:00:00"}