PFuji-Size dataset: photogrammetry-derived 3D point clouds of Fuji apples trees with annotations to evaluate fruit detection and size estimation methodologies

The PFuji-Size dataset [2] includes the 3D point clouds of 6 Fuji apple trees containing a total of 615 apples and an additional 25 apples scanned in laboratory conditions. Structure-from-motion and multi-view stereo techniques were used to generate the 3D point clouds of the captured scene. Apple locations and ground truth diameter annotations are provided for assessing fruit detection and size estimation algorithms.