Title:	Multi-fruit tracking and 3-D structure recovery via CoTracker.
Authors:	SANTOS, T. T.
Affiliation:	THIAGO TEIXEIRA SANTOS, CNPTIA.
Date Issued:	2026
Citation:	Revista de Informática Teórica e Aplicada - RITA, v. 33, n. 2, p. 81-88, 2026.
Description:	Abstract: In agricultural robotics and orchard automation, tasks such as fruit detection, tracking, and spatiallocalization are essential for applications like yield prediction and harvesting. However, these tasks arechallenging due to the similar appearance of fruits, occlusions, and the inherent difficulties of field robotics,including uncontrolled lighting conditions and the variability in orchard environments. This work leveragesCoTracker, a transformer-based model for point tracking using cross-track/cross-time attention, to simultaneouslyperform multiple fruit tracking, 3-D fruit localization, and camera pose estimation. The proposed approachdemonstrates promising results in fruit counting, tracking, and scene reconstruction, highlighting its potential inagricultural automation.
Keywords:	Agricultura digital Robótica agrícola Detecção de frutas Rastreamento de frutas Digital agriculture Agricultural robotics Fruit detection Fruit tracking
ISSN:	2175-2745
DOI:	https://doi.org/10.22456/2175-2745.150960
Type of Material:	Artigo de periódico
Access:	openAccess
Appears in Collections:	Artigo em periódico indexado (CNPTIA)