Before revision:  Results demonstrate viability both on real data for avocado and mango trees and virtual data with independently controlled sensor noise and tree spacing .
After revision:  Our methods for tree location and segmentation improved on existing methods with an F1 score of 0.774 and a v-measure of 0.915 respectively, while trunk matter classification performed poorly in absolute terms with an average F1 score of 0.490 on real data, though consistently outperformed existing methods and displayed a significantly shorter runtime .