{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T15:01:51Z","timestamp":1790694111513,"version":"4.1.0"},"reference-count":32,"publisher":"Elsevier BV","issue":"3","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,5,30]],"date-time":"2026-05-30T00:00:00Z","timestamp":1780099200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"DOI":"10.13039\/100017779","name":"Cornell Institute for Digital Agriculture","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100017779","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100005825","name":"National Institute of Food and Agriculture","doi-asserted-by":"publisher","award":["2020-51181-32197"],"award-info":[{"award-number":["2020-51181-32197"]}],"id":[{"id":"10.13039\/100005825","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Plant Phenomics"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.plaphe.2026.100228","type":"journal-article","created":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T06:59:30Z","timestamp":1781852370000},"page":"100228","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"title":["Dynamic sparse point voxel transformer for 3D point cloud instance segmentation of dormant apple trees"],"prefix":"10.1016","volume":"8","author":[{"given":"Ruiming","family":"Du","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sinuo","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kenong","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lailiang","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4495-3033","authenticated-orcid":false,"given":"Yu","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.plaphe.2026.100228_bib1","first-page":"10","article-title":"Mechanization efforts in fruit tree pruning and thinning","volume":"40","author":"Karkee","year":"2025","journal-title":"Choice"},{"key":"10.1016\/j.plaphe.2026.100228_bib2","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.111013","article-title":"A dedicated review of robotic pruners: current technologies, challenges, and future directions","volume":"239","author":"Nouri","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.plaphe.2026.100228_bib3","article-title":"Autonomous robotic pruning in orchards and vineyards: a review","volume":"12","author":"Navone","year":"2025","journal-title":"Smart Agric. Technol."},{"key":"10.1016\/j.plaphe.2026.100228_bib4","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2021.106383","article-title":"Technological advancements towards developing a robotic pruner for Apple trees: a review","volume":"189","author":"Zahid","year":"2021","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.plaphe.2026.100228_bib5","series-title":"2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","first-page":"23","article-title":"(Real2Sim)-1: 3D branch point cloud completion for robotic pruning in apple orchards","author":"Qiu","year":"2024"},{"key":"10.1016\/j.plaphe.2026.100228_bib6","series-title":"2020 IEEE International Conference on Robotics and Automation (ICRA)","first-page":"3930","article-title":"An efficient planning and control framework for pruning fruit trees","author":"You","year":"2020"},{"key":"10.1016\/j.plaphe.2026.100228_bib7","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/j.isprsjprs.2022.01.007","article-title":"PlantNet: a dual-function point cloud segmentation network for multiple plant species","volume":"184","author":"Li","year":"2022","journal-title":"ISPRS J. Photogrammetry Remote Sens."},{"key":"10.1016\/j.plaphe.2026.100228_bib8","doi-asserted-by":"crossref","DOI":"10.34133\/2022\/9787643","article-title":"PSegNet: simultaneous semantic and instance segmentation for point clouds of plants","author":"Li","year":"2022","journal-title":"Plant Phenomics"},{"key":"10.1016\/j.plaphe.2026.100228_bib9","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/j.isprsjprs.2022.01.007","article-title":"PlantNet: a dual-function point cloud segmentation network for multiple plant species","volume":"184","author":"Li","year":"2022","journal-title":"ISPRS J. Photogrammetry Remote Sens."},{"key":"10.1016\/j.plaphe.2026.100228_bib10","doi-asserted-by":"crossref","DOI":"10.1016\/j.plaphe.2025.100107","article-title":"Deep learning for three-dimensional (3D) plant phenomics","volume":"7","author":"Jin","year":"2025","journal-title":"Plant Phenomics"},{"key":"10.1016\/j.plaphe.2026.100228_bib11","author":"Qi"},{"key":"10.1016\/j.plaphe.2026.100228_bib12","series-title":"2016 23rd International Conference on Pattern Recognition (ICPR)","first-page":"2670","article-title":"Point cloud labeling using 3D convolutional neural network","author":"Huang","year":"2016"},{"key":"10.1016\/j.plaphe.2026.100228_bib13","series-title":"2025 IEEE International Conference on Robotics and Automation (ICRA)","first-page":"7131","article-title":"Joint 3D point cloud segmentation using real-sim loop: from panels to trees and branches","author":"Qiu","year":"2025"},{"key":"10.1016\/j.plaphe.2026.100228_bib14","doi-asserted-by":"crossref","first-page":"380","DOI":"10.1016\/j.isprsjprs.2022.11.022","article-title":"PST: plant segmentation transformer for 3D point clouds of rapeseed plants at the podding stage","volume":"195","author":"Du","year":"2023","journal-title":"ISPRS J. Photogrammetry Remote Sens."},{"key":"10.1016\/j.plaphe.2026.100228_bib15","series-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","article-title":"OctNet: learning deep 3D representations at high resolutions","author":"Riegler","year":"2017"},{"key":"10.1016\/j.plaphe.2026.100228_bib16","series-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)","first-page":"1355","article-title":"Vote3Deep: fast object detection in 3D point clouds using efficient convolutional neural networks","author":"Engelcke","year":"2016"},{"key":"10.1016\/j.plaphe.2026.100228_bib17","series-title":"2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"9224","article-title":"3D semantic segmentation with submanifold sparse convolutional networks","author":"Graham","year":"2018"},{"key":"10.1016\/j.plaphe.2026.100228_bib18","series-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"20943","article-title":"Oneformer3d: one transformer for unified point cloud segmentation","author":"Kolodiazhnyi","year":"2024"},{"key":"10.1016\/j.plaphe.2026.100228_bib19","series-title":"Spconv: Spatially Sparse Convolution Library","author":"Contributors","year":"2022"},{"key":"10.1016\/j.plaphe.2026.100228_bib20","series-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","first-page":"3075","article-title":"4D spatio-temporal ConvNets: minkowski convolutional neural networks","author":"Choy","year":"2019"},{"key":"10.1016\/j.plaphe.2026.100228_bib21","series-title":"Conference on Machine Learning and Systems (Mlsys)","article-title":"TorchSparse: efficient point cloud inference engine","author":"Tang","year":"2022"},{"key":"10.1016\/j.plaphe.2026.100228_bib22","author":"Du"},{"key":"10.1016\/j.plaphe.2026.100228_bib23","series-title":"Advances in Neural Information Processing Systems","article-title":"Point-voxel CNN for efficient 3D deep learning","author":"Liu","year":"2019"},{"key":"10.1016\/j.plaphe.2026.100228_bib24","series-title":"European Conference on Computer Vision","article-title":"Searching efficient 3D architectures with sparse point-voxel convolution","author":"Tang","year":"2020"},{"key":"10.1016\/j.plaphe.2026.100228_bib25","series-title":"IEEE\/ACM International Symposium on Microarchitecture (MICRO)","article-title":"TorchSparse++: efficient training and inference framework for sparse convolution on GPUs","author":"Tang","year":"2023"},{"key":"10.1016\/j.plaphe.2026.100228_bib26","series-title":"2024 ASABE Annual International Meeting. ASABE Paper No. 2400545","first-page":"1","article-title":"Simulated data enhances three-dimensional segmentation-based characterization of real apple trees","author":"Du","year":"2024"},{"key":"10.1016\/j.plaphe.2026.100228_bib27","doi-asserted-by":"crossref","first-page":"179","DOI":"10.34133\/plantphenomics.0179","article-title":"AppleQSM: geometry-based 3D characterization of apple tree architecture in orchards","volume":"6","author":"Qiu","year":"2024","journal-title":"Plant Phenomics"},{"key":"10.1016\/j.plaphe.2026.100228_bib28","author":"Contributors"},{"key":"10.1016\/j.plaphe.2026.100228_bib29","series-title":"CherryPicker: Semantic Skeletonization and Topological Reconstruction of Cherry Trees","author":"Meyer","year":"2023"},{"key":"10.1016\/j.plaphe.2026.100228_bib30","series-title":"2010 Shape Modeling International Conference","first-page":"187","article-title":"Point cloud skeletons via laplacian based contraction","author":"Cao","year":"2010"},{"key":"10.1016\/j.plaphe.2026.100228_bib31","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109708","article-title":"Apple tree architectural trait phenotyping with organ-level instance segmentation from point cloud","volume":"229","author":"Jiang","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.plaphe.2026.100228_bib32","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1371\/journal.pone.0256340","article-title":"Pheno4D: a spatio-temporal dataset of maize and tomato plant point clouds for phenotyping and advanced plant analysis","volume":"16","author":"Schunck","year":"2021","journal-title":"PLoS One"}],"container-title":["Plant Phenomics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S2643651526000658?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S2643651526000658?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T14:50:33Z","timestamp":1790693433000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S2643651526000658"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":32,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026,9]]}},"alternative-id":["S2643651526000658"],"URL":"https:\/\/doi.org\/10.1016\/j.plaphe.2026.100228","relation":{},"ISSN":["2643-6515"],"issn-type":[{"value":"2643-6515","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Dynamic sparse point voxel transformer for 3D point cloud instance segmentation of dormant apple trees","name":"articletitle","label":"Article Title"},{"value":"Plant Phenomics","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.plaphe.2026.100228","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Author(s). Published by Elsevier B.V. on behalf of Nanjing Agricultural University.","name":"copyright","label":"Copyright"}],"article-number":"100228"}}