In precision agriculture, where data is used to automate and optimize agricultural tasks for maximum yield, large-scale mapping and digital modeling of the land of interest are essential. This digital backbone enables tasks such as yield estimation, targeted spraying and phenotyping while also provi ding the foundation for autonomous navigation, perception and robotic operation. However, in modern commercial orchards, with their large scale, high tree density and structured layouts, achieving consistent mapping and accurate 3D modeling remains challenging. ...read more read less