camera to change its shutter speed/brightness level. Study should be conducted to

determine whether night time imaging with the machine vision system using artificial

lighting improves the image acquisition module.

 Two other areas for future work deal with the problems of clustered fruits and with

fruits that are partially occluded from view. Statistical estimates should be developed to

account for occluded fruits and fruit clusters in order to classify all the fruits in an image

correctly. Another improvement would be to use multiple cameras to capture the entire

portion of citrus trees. This would increase the correlation between the number of fruits

on a tree and the number of fruits estimated by the yield prediction model. An

ultrasonic/laser sensor could be used to measure the distance between the camera and the

imaging scene to measure the size of the fruits.