BranchMatch: Point Cloud Registration for Individual Apple Trees with Limited Overlap Based on Local Structure Characteristics

Ning Wang¹Yuheng Cao¹Kai Zhang¹Shuting Xu¹Feng Kang¹Man Zhang²Bojia Chi³Yanlong Miao^1*Yaxiong Wang^1*

• ¹Beijing Forestry University, Beijing, China
• ²China Agricultural University, Beijing, Beijing Municipality, China
• ³Beijing Miyun District Landscape and Greening Service Center, Beijing, China

Point cloud registration is a critical technology for 3D reconstruction and personalized management of fruit trees. While ensuring the accuracy and completeness of 3D point cloud reconstruction, the simplest and most efficient approach is to acquire and register point clouds from two stations separated by 180°. For this, we propose BranchMatch, a low-overlap viewpoints acquisition and registration method tailored for tall-spindle individual apple trees during dormancy. The method requires only two point clouds captured from stations 180° apart. Then, it leverages key branch segments in a single viewpoint, utilizing their spatial and geometric structure features in combination with a dynamically weighted feature discriminant function to perform feature matching and initial rigid-body transformation under low overlap conditions. Subsequently, an iterative closest point algorithm, enhanced with local feature matching optimization based on the tree-specific point cloud, is applied to refine the registration and prevent over-registration. Experiments conducted on multiple individual apple trees with two low-overlap point clouds (180° apart) demonstrate a registration success rate of 90%. Compared to the spherical markers registration method, BranchMatch achieves average rotation and translation errors of 1.93 mrad and 4.33 mm, respectively, with a pointwise error of 2.70 mm. Furthermore, compared to multi-site high-overlap registration methods under similar conditions, BranchMatch significantly reduces computational costs while maintaining registration accuracy and reconstruction completeness, highlighting its efficiency and reliability in individual tree registration.