  We present PATHoBot an autonomous crop surveying and intervention robot for
glasshouse environments. The aim of this platform is to autonomously gather
high quality data and also estimate key phenotypic parameters. To achieve this
we retro-fit an off-the-shelf pipe-rail trolley with an array of multi-modal
cameras, navigation sensors and a robotic arm for close surveying tasks and
intervention. In this paper we describe PATHoBot design choices made to ensure
proper operation in a commercial glasshouse environment. As a surveying
platform we collect a number of datasets which include both sweet pepper and
tomatoes. We show how PATHoBot enables novel surveillance approaches by first
improving our previous work on fruit counting by incorporating wheel odometry
and depth information. We find that by introducing re-projection and depth
information we are able to achieve an absolute improvement of 20 points over
the baseline technique in an "in the wild" situation. Finally, we present a 3D
mapping case study, further showcasing PATHoBot's crop surveying capabilities.
