# Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association

arXiv: https://arxiv.org/abs/1811.01417 · HTML: https://mlsanity.com/paper/1811.01417/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Nov 2018.

## Built on by (most cited first, 8 of 8)

- [FruitNeRF: A Unified Neural Radiance Field based Fruit Counting Framework](https://mlsanity.com/paper/2408.06190/) (2024)
- [Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy](https://mlsanity.com/paper/2109.06479/) (2021)
- [FruitNeRF++: A Generalized Multi-Fruit Counting Method Utilizing Contrastive Learning and Neural Radiance Fields](https://mlsanity.com/paper/2505.19863/) (2025)
- [High precision control and deep learning-based corn stand counting algorithms for agricultural robot](https://mlsanity.com/paper/2103.11276/) (2021)
- [3D Reconstruction-Based Seed Counting of Sorghum Panicles for Agricultural Inspection](https://mlsanity.com/paper/2211.07748/) (2022)
- [A methodology for detection and localization of fruits in apples orchards from aerial images](https://mlsanity.com/paper/2110.12331/) (2021)
- [Autonomous Apple Fruitlet Sizing and Growth Rate Tracking using Computer Vision](https://mlsanity.com/paper/2212.01506/) (2022)
- [Vision-based automatic fruit counting with UAV](https://mlsanity.com/paper/2503.13080/) (2025)

## Abstract (arXiv)

We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting performance comparable to state-of-the-art fruit counting system that utilizes an expensive sensor suite including LiDAR and GPS/INS on a mango dataset. Our monocular camera pipeline begins with a fruit detection component that uses a deep neural network. It then uses semantic structure from motion (SFM) to convert these detections into fruit counts by estimating landmark locations of the fruit in 3D, and using these landmarks to identify double counting scenarios. There are many benefits of developing a low cost and lightweight fruit counting system, including applicability to agriculture in developing countries, where monetary constraints or unstructured environments necessitate cheaper hardware solutions.