## 3 Dataset  
### Image Capture  
The data for this study were sampled on 20 March 2023 in the dwarf and densely planted jujube cultivation demonstration garden of the 224 th Regiment, Kunyu City, 14 th. Division, Xinjiang Production and Construction Corps. The jujube plantation covers an area of about 103.3 km\({}^{2}\), and the planting mode is standardized: four rows are in a column team, the distance between rows is 2 m, and there is a 4m wide mechanized operation channel between each column team. The jujube trees are evenly arranged, and the overall straightness is good, providing favorable conditions for UAV route planning and data collection, as shown in Figure 6.  
Figure 5: Schematic of multi-scale cost volumes fusion network. Figure 6: Schematic diagram of straightness of standardized jujube garden. In the process of jujube tree video acquisition, the panoramic camera has distinct advantages and characteristics, so the UAV-mounted panoramic camera is used for data acquisition. The panoramic camera has a high-resolution and comprehensive perspective and can capture the multi-view image of each jujube tree at one time, which greatly improves the work efficiency; at the same time, it can also understand the spatial structure distribution of the jujube tree more comprehensively, which helps to accurately construct the jujube tree model. The jujube tree image acquisition equipment used in this study is: The jujube tree image acquisition equipment used in this study is an Insta360 x2 panoramic camera, which has an aperture of F2.0 with an equivalent focal length of 7.2 mm, and the image settings are set to record at 30 fps at 5.7 K. The panoramic camera is suspended and mounted via a DJI Mavic3 drone in the form shown in image acquisition equipment of Figure 7. To ensure the consistency of data collection, the UAV was set to route flight mode, with a constant route height of 1.4 m (the height of the center of the jujube tree crown) and a path set to fly along the center of the jujube tree rows at a constant speed in a straight line. Due to the mobile shooting process, it will inevitably appear to motion blur, but hope that in the case of the date palm is clear enough to ensure the sampling efficiency. Firstly, we set the motion blur tolerance as the camera's moving distance in each frame is set to be less than 5% of the target size; secondly, based on the target blur length combined with the camera's frame rate, resolution, field of view angle hardware parameters can be calculated as the moving distance of the image in the photographic element, and then theoretically launched the range of moving speed. However, in the actual orchard environment, due to the light intensity and the stability of the UAV movement and other factors, to ensure the actual shooting effect, we have conducted a variety of speed attempts and finally set a reasonable flight speed of 1.2 m/s. The panoramic camera has excellent advantages, but the panoramic lens will inevitably produce image distortion in physical imaging, forming wide-angle aberrations leading to 3D reconstruction failure. Therefore, we adopt the polar coordinate mapping model to eliminate the distortion [31]. The polar coordinate mapping model utilizes the idea of the polar coordinate system, which is to convert the original pixel point from a right-angle coordinate system (\(x\), \(y\)) to a polar coordinate system (\(r\), \(\theta\)), where r is the distance from the origin (the center of the image) to the point, and \(\theta\) is the angle from the origin to the point. During polar mapping, a pixel point on a panoramic image is determined by its coordinates in polar coordinates, which means that each pixel point is equivalent to a point radiating outward from the center, which helps us to adjust the shape of the image to overcome the problems generated by lens distortion. The initial image data is the panoramic image. In order to get the multi-view image of jujube trees, it needs to be pre-processed.