The whole thesis project was realised in collaboration with STIIMA-CNR (Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato - Consiglio Nazionale delle Ricerche) located in Bari. The need to improve the relationship between phenotyping and automation is increasing due to the world’s current sub-optimal and worsening situation regarding food production. It is therefore important to research and implement new methods in order to increase sustainability and food security worldwide. The first step we used to automate phenotyping is to enable the robot to move autonomously within the rows of vines. This is made possible by data acquisition through severalIntel Real Sense D345s from which PointClouds are exploited.