1. Proprietary vs. Open-Source Visual-Inertial Fusion Under GNSS Degradation for Orchard-Scale 3D Fruit Mapping

A recent pipeline combining GNSS-visual-inertial odometry with factor-graph refinement of fruit landmarks has reported orchard-level apple counting errors below three percent against harvest totals — a result with few precedents in the agricultural SLAM literature, where GNSS-VIO fusion, landmark-level optimization, and harvest-validated yield estimation have until now appeared only in isolation. However, trajectory quality in that pipeline was assessed... T. Santos, D. Bharti, L. Gebler, A. De Rossi