Aggie Aerial-Ground Robotics developed BloomSense, a system that combines orchard-scale UAV mapping with multi-angle in-canopy imagery from an Amiga ground robot to produce high-resolution bloom density estimates. The aerial layer captures whole-block structure and bloom distribution, while the ground robot drives the rows to gather close-range imagery from inside the canopy, where aerial coverage is limited. The two data streams are fused into a unified bloom density map that holds up across varied lighting and canopy structures. Growers gain a repeatable, early-season measurement that informs pollination strategy, nitrogen planning and yield-potential assessment in almonds, apples and other specialty tree crops.