*2.2. Fruit Tree Information Perception Method*

In this section, we introduce the complete method of fruit tree information perception; the specific process is shown in Figure 2. When the test platform runs in the orchard, the surrounding fruit tree information can be obtained by 2D LiDAR sensor scanning, and the point cloud data of the fruit tree will be preprocessed. Preprocessing is used so as to only retain fruit trees on both sides of the test platform for point cloud registration and clustering. The most important is point cloud registration and clustering. Firstly, complete fruit tree data on both sides can be obtained by point cloud registration. Then, the position of each fruit tree can be obtained by a clustering algorithm.

**Figure 2.** The process of fruit tree perception.
