The following thesis project describes the design, development and implementation of a monitoring system for an apple orchard, through the creation of an integral digital twin (DT) of said orchard that supplies useful information about the apples, such as health and position. The work done for this thesis corresponds to the continuation of a project carried out by the Department of Environment, Land and Infrastructure Engineering (DIATI) and the Department of Mechanical and Aerospace Engineering (DIMEAS) of the Politecnico di Torino. Data acquisition was performed using multispectral cameras and a stereo camera mounted on an agricultural UGV developed by DIMEAS, called AgriQ, that was driven around the orchard by remote control.