Fig. 1. Tree models and apricot trees in the leaf-off period. (a) Smooth tree; (b) bark tree; (c) apricot 1; (d) apricot 2; (e) apricot 3; (f) apricot 4; (g) apricot 5

Fig. 2. Experiment process

Fig. 3. Top view of multi station registration change. (a) Single station; (b) 2 stations; (c) 3 stations; (d) 4 stations; (e) 5 stations

Fig. 4. Multi-site integration of apricot point cloud. (a) Apricot 1; (b) apricot 2; (c) apricot 3; (d) apricot 4; (e) apricot 5

Fig. 5. The best reconstructed models of tree models. (a) S-011-F4; (b) B-011-F4

Fig. 6. Error of the reconstructed models. (a) S-011-F2; (b) S-011-F5; (c) S-002-F4

Fig. 7. Reconstructed models of apricots. (a) Apricot 1; (b) apricot 2; (c) apricot 3; (d) apricot 4; (e) apricot 5

Fig. 8. Error analysis. (a) Relative error of model tree height; (b) relative error of model tree diameter at breast height; (c) relative error of model tree volume; (d) comparison of measured and estimated apricot volume