 Our method uses this octree to sample viewpoints that increase the information around the fruit regions and estimates their position and size . Our planner is modular and provides different ways of obtaining the regions of interest and sampling candidate viewpoints .
<clarity>  Our method uses this octree to sample viewpoints that increase the information around the fruit regions and estimates their position and size . Our planner is modular and provides different ways of obtaining the regions of interest and sampling candidate viewpoints .
 Our method uses this octree to sample viewpoints that increase the information around the fruit regions and estimates their position and size of the detected fruits .