Nowadays, precision agriculture and precision viticulture are under strong development. In order to accomplish effective actions, robots require robust perception of the culture and the surrounding environment. Computer vision systems have to identify plant parts (branches, stems, leaves, flowers, fruits, vegetables, etc.) and their respective health status. Moreover, they must merge various plant information, to measure agronomic indices, to classify them and finally to extract data to enable the agriculturist or expert to make a relevant decision. We propose a real-time method to acquire, process and register multispectral images fused to 3D. The sensors system, consisting of a multispectral camera and a RGB-D sensor, can be embedded on a ground robot or other terrestrial vehicles. Experiments conducted in the vineyard field demonstrate that agronomic analyses are allowed.