{"id":"https://openalex.org/W7154887858","doi":"https://doi.org/10.20965/jrm.2026.p0449","title":"LiDAR\u2013Camera Fusion for 3D Fruit Counting and Density Mapping in Horizontal Trellis Orchards","display_name":"LiDAR\u2013Camera Fusion for 3D Fruit Counting and Density Mapping in Horizontal Trellis Orchards","publication_year":2026,"publication_date":"2026-04-19","ids":{"openalex":"https://openalex.org/W7154887858","doi":"https://doi.org/10.20965/jrm.2026.p0449"},"language":"en","primary_location":{"id":"doi:10.20965/jrm.2026.p0449","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0449","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/jrm.2026.p0449","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012029888","display_name":"Jaehwan Lee","orcid":"https://orcid.org/0009-0002-7996-2722"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jaehwan Lee","raw_affiliation_strings":["Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133976912","display_name":"Meguna Ohata","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Meguna Ohata","raw_affiliation_strings":["Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103938009","display_name":"Hiromichi Itoh","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiromichi Itoh","raw_affiliation_strings":["Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112083804","display_name":"Eiji Morimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eiji Morimoto","raw_affiliation_strings":["Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan"],"raw_orcid":"https://orcid.org/0009-0008-9920-3081","affiliations":[{"raw_affiliation_string":"Graduate School of Agricultural Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan","institution_ids":["https://openalex.org/I65837984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012029888"],"corresponding_institution_ids":["https://openalex.org/I65837984"],"apc_list":null,"apc_paid":null,"fwci":13.2376,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.98662207,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"38","issue":"2","first_page":"449","last_page":"459"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.7433000206947327,"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":0.7433000206947327,"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/T12161","display_name":"Plant Surface Properties and Treatments","score":0.11420000344514847,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.025100000202655792,"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/trellis","display_name":"Trellis (graph)","score":0.7329000234603882},{"id":"https://openalex.org/keywords/orchard","display_name":"Orchard","score":0.7200000286102295},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5859000086784363},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.516700029373169},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4864000082015991},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.41839998960494995},{"id":"https://openalex.org/keywords/density-estimation","display_name":"Density estimation","score":0.39590001106262207},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.39559999108314514}],"concepts":[{"id":"https://openalex.org/C2781235587","wikidata":"https://www.wikidata.org/wiki/Q7838009","display_name":"Trellis (graph)","level":3,"score":0.7329000234603882},{"id":"https://openalex.org/C2780753983","wikidata":"https://www.wikidata.org/wiki/Q236371","display_name":"Orchard","level":2,"score":0.7200000286102295},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5859000086784363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5602999925613403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5238000154495239},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.516700029373169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5047000050544739},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4864000082015991},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.41839998960494995},{"id":"https://openalex.org/C189508267","wikidata":"https://www.wikidata.org/wiki/Q17088227","display_name":"Density estimation","level":3,"score":0.39590001106262207},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3804999887943268},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3427000045776367},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.33239999413490295},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2971999943256378},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C120217122","wikidata":"https://www.wikidata.org/wiki/Q740083","display_name":"Precision agriculture","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2574999928474426}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.20965/jrm.2026.p0449","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0449","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01257:0007378821","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.14094/0100504207","pdf_url":"https://da.lib.kobe-u.ac.jp/da/kernel/0100504207/0100504207.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.20965/jrm.2026.p0449","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0449","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4934322284","display_name":null,"funder_award_id":"25K18327","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1980180011","https://openalex.org/W2323765315","https://openalex.org/W2625680238","https://openalex.org/W2936307272","https://openalex.org/W2964062501","https://openalex.org/W2998587218","https://openalex.org/W3035461736","https://openalex.org/W3129245057","https://openalex.org/W3157866637","https://openalex.org/W3167095230","https://openalex.org/W3213810615","https://openalex.org/W4210423514","https://openalex.org/W4288681049","https://openalex.org/W4294327702","https://openalex.org/W4308156238","https://openalex.org/W4361980147","https://openalex.org/W4366438975","https://openalex.org/W4383097439","https://openalex.org/W4405569346","https://openalex.org/W4408046626","https://openalex.org/W4409352696","https://openalex.org/W4414121163","https://openalex.org/W7116185172"],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3,93,112],"real-time":[4,88],"fruit":[5,21,41,142],"monitoring":[6,143],"system":[7,33,122],"that":[8],"integrates":[9],"light":[10],"detection":[11,42,67],"and":[12,15,23,50,87,106],"ranging":[13],"(LiDAR)":[14],"RGB":[16],"camera":[17],"data":[18],"for":[19,139],"3D":[20,45],"counting":[22,103],"spatial":[24,64,108],"density":[25,109],"mapping":[26],"in":[27,92,144,148],"horizontal":[28,150],"trellis":[29,151],"pear":[30],"orchards.":[31],"The":[32,121],"employs":[34],"instance-level":[35],"sensor":[36],"fusion,":[37],"combining":[38],"YOLO-based":[39],"2D":[40],"with":[43,111],"SLAM-generated":[44],"point":[46],"clouds":[47],"to":[48],"localize":[49],"track":[51],"individual":[52],"fruits.":[53],"A":[54],"customized":[55],"temporal":[56],"tracking":[57],"algorithm":[58],"mitigates":[59],"duplicate":[60],"counts,":[61],"while":[62],"center-based":[63],"filtering":[65],"improves":[66],"accuracy.":[68],"Among":[69],"the":[70,134],"four":[71],"evaluated":[72],"YOLO":[73],"models,":[74],"YOLOv11s":[75],"was":[76],"selected":[77],"based":[78],"on":[79],"its":[80],"F1-score,":[81],"lowest":[82],"false":[83],"negatives":[84],"(FN)":[85],"count,":[86],"performance.":[89],"Field":[90],"validation":[91],"6":[94],"m":[95,98],"\u00d7":[96],"70":[97],"orchard":[99,129,145],"plot":[100],"demonstrated":[101],"high":[102],"accuracy":[104],"(96.2%)":[105],"reliable":[107],"estimation,":[110],"mean":[113],"absolute":[114],"error":[115],"of":[116,136],"0.64":[117],"fruits/m":[118],"2":[119],".":[120],"effectively":[123],"identified":[124],"yield":[125],"variations":[126],"across":[127],"different":[128],"regions.":[130],"These":[131],"findings":[132],"support":[133],"use":[135],"LiDAR\u2013camera":[137],"fusion":[138],"scalable,":[140],"high-precision":[141],"environments,":[146],"particularly":[147],"labor-intensive":[149],"systems.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-04-20T00:00:00"}