Before revision:  Our method uses this octree to sample viewpoints that increase the information around the fruit regions and estimates their position and size .
After revision:  Our method uses this octree to sample viewpoints that increase the information around the fruit regions and evaluates them using a heuristic utility function that takes into account the expected information gain. Our system automatically switches between ROI targeted sampling and exploration sampling, which considers general frontier voxels, depending on the estimated utility. When the plants have been sufficiently covered with the RGB-D sensor, our system clusters the ROI voxels and estimates the position and size .