3D reconstruction of apple fruits using consumer-grade RGB-depth sensor

Abstract Three-dimensional reconstruction has great potential to improve not only the post-harvest quality control but also the breeding efficiency in horticulture. The depth information of the consumer-grade RGB-depth sensor was unreliable compared to that obtained from industrial sensors. To cope with this disadvantage, the generated point cloud was corrected within a region of interest of the target fruit, which was extracted from the color image of the sensor. Evaluating more than a hundred apple fruits, the root-mean-square error of the volume and the largest diameter were less than 6 cm 3 and 1 mm, respectively. Reconstruction of various kinds of fruits and vegetables were demonstrated. The proposed method can be applied to accelerate the quantification of three-dimensional features of agricultural products.