Abstract:In this paper, the binocular stereovision is applied to orientating red tomatoes. After transformed to grayscale, the 2D histogram of image was eroded and dilated and little area was removed. The edge of background area was extracted, then the image was segmented along the curve gotten from the edge. The corresponding tomato in right image was matched by means of area match after the tomato was labeled, in which means of thresholding was used. The z coordinate of the feature point can be gotten which supported by stereovision imaging technique. In the course of area match, the corresponding feature point in right image was found by error match, thus matching time and possibility of miss match was shorten and decreased respectively. According to the experiment, the error of depth can be controlled within 3~4 percent when the distance between object and camera was ranged from 300~400 mm.