  We propose a 3D color point cloud processing pipeline to count apples on
individual apple trees in trellis structured orchards. Fruit counting at the
tree level requires separating trees, which is challenging in dense orchards.
We employ point clouds acquired from the leaf-off orchard in winter period,
where the branch structure is visible, to delineate tree crowns. We localize
apples in point clouds acquired in harvest period. Alignment of the two point
clouds enables mapping apple locations to the delineated winter cloud and
assigning each apple to its bearing tree. Our apple assignment method achieves
an accuracy rate higher than 95%. In addition to presenting a first proof of
feasibility, we also provide suggestions for further improvement on our apple
assignment pipeline.
