Abstract
The apple fruit locations were investigated using Cartesian coordinate system to evaluate the apple fruit distributions for the robotic apple harvesting manipulation. The cumulative distributions of the apple fruits in the horizontal and vertical directions were approximated as growth curve using the non-linear least square method. If the total number of the fruits in the tree was determined, the horizontal and vertical distributions of the apple fruit locations in the tree were estimated. The information of the apple fruits distribution would be useful for the design of the manipulator of the apple harvesting robot.
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