Fecha de publicación: -- Fuente: WIPO "tomato" The present disclosure relates to grading and packaging units of product. A method of packaging units of product into containers associated with required product grades comprises estimating the weights of a plurality of units of product using computer vision, determining the product grades based on quality characteristics, calculating a required weight to add to the container to reach a target weight, identifying suitable units of product that are over the required weight and of the required product grade, and packaging the lightest suitable unit of product into the container. A weight estimation function is dynamically adjusted based on a feedback loop comparing estimated weights with actual measured weights. A grading cell comprises a control entity, a computer vision system, an input stream, output streams containing containers associated with scales, and a robotic grading device with a pick-and-place tool for parallel sorting and grading operations.