4-10. Image processing steps of a typical citrus grove scene. ............. .....................4

4-1 1. Regression analysis between the number of fruits counted by human observation
 and the number of fruits counted by the fruit counting algorithm. ................... .......48

4-12. Regression analysis for encoder calibration. ............. ...............50.....

4-13. Regression analysis between NA and NPf,,ts.................. ...............54.............

4-14. Regression analysis between NA and NPpxezs. .............. ...............54....

4-15. Regression analysis between NA and NPfrurts-plxels. ............. ...............55

4-16. Regression analysis between yield prediction model and the actual harvested yield.58

4-17. Performance of yield prediction model (fruits/m2). ................ ......... ..............60

4-18. Yield mapping for citrus fruits (fruits/m2) ................. ...............61.............

4-19. Yield based on number of citrus fruits in an image (fruits/m2) ............... ...............62

4-20. Yield variability based on rootstock variety ................. ............... ......... ...63