Fuji-SfM dataset

<p>The Fuji-SfM dataset includes: (1) a set of 288 colour images and the corresponding annotations (apples segmentation masks) for training instance segmentation neural networks such as Mask-RCNN; (2) a set of 582 images defining a motion sequence of the scene which was used to generate the 3D model of 11 Fuji apple trees containing 1455 apples by using SfM; (3) the 3D point cloud of the scanned scene with the corresponding apple positions ground truth in global coordinates.<br> This data allows the development, training, and test of fruit detection algorithms either based on RGB images, on coloured point clouds or on the combination of both types of data.</p>