S2SegNet: A semantic-instance joint segmentation network for point clouds of single-stem tomatoes - Zhe Li; Zhengyan Xia; Jiangjun Yao; Tongtong Huang; Xuehan Li; Yiming Li; Ziyi Li; Zuosen Qu; Xinhui Wang; Pengcheng Nie (Computers and Electronics in Agriculture, 2026)