This video shows our latest results in mango fruit detection, localisation and mapping. The multi-sensor robot 'Shrimp' acquires data with a variety of different sensors, including lidar for tree canopy segmentation and colour vision for fruit detection and triangulation. This is arguably the world's most accurate system for mapping individual whole fruit in commercial orchards, while the fruit is still on the tree. Compared to post-harvest yield estimates for individual trees, the system counts accurately (linear fit, near unity slope of 0.96 and r^2 value of 0.89). The system has now been validated on two subsequent seasons, with the third planned later this year (2017). Scanning is performed 2 months before harvest time, meaning there's plenty of opportunity to use it for precision agriculture and on-farm decision making, towards optimised fruit production.