AmodalAppleSize_RGB-D dataset: RGB-D images of apple trees annotated with modal and amodal segmentation masks for fruit detection, visibility and size estimation.

The present dataset comprises a collection of RGB-D apple tree images that can be used to train and test computer vision-based fruit detection and sizing methods. This dataset encompasses two distinct sets of data obtained from a Fuji and an Elstar apple orchards. The Fuji apple orchard sub-set consists of 3925 RGB-D images containing a total of 15,335 apples annotated with both modal and amodal apple segmentation masks.