|Yep, there's fruit here. The peaches are still green, but visible from beneath the tree.|
|The thermal infrared image from near the center of the visible image above. There are peaches to the left and bottom left of the dark hole above the center of the image.|
Thermal imaging may still be useful for distinguishing between fruit and leaves with robotic vision. That's because fruit, being more massive than a leaf, should maintain a warmer temperature after a cool night. However, for thermal imaging to detect this, the thermal image needs to be taken without the sky being in view. Or, the thermal imager can't auto-scale its image based on temperature extremes it detects.
I may need a different thermal imager to make robotic vision possible.