Fruit bunch three-dimensional reconstruction and picking point calculation method

The invention provides a fruit bunch three-dimensional reconstruction and picking point calculation method. The method comprises the steps that image data, camera pose information and fruit stem labeling information of sample fruit bunches and depth information of a scene where the sample fruit bunches are located are acquired; constructing training data according to the image data, the camera pose information and the depth information; training the neural radiation field model according to the training data; acquiring to-be-measured data of the target fruit bunch, and inputting the to-be-measured data into the three-dimensional reconstruction model to obtain three-dimensional coordinates, color and transparency information of the target fruit bunch; constructing an annotation data set according to the image data and the fruit stem annotation information, and training the segmentation network by using an annotation training set; inputting the three-dimensional coordinates, the color and the transparency infor