Abstract: This paper, after analyzing different image segmentation methods, presents an image
segmentation algorithm based on color and texture features in order to enable an apple picking robot
to separate targets from complex backgrounds. Texture features of grayscale images are analyzed to
obtain ground launched cruise missile for feature extraction and to segment images by support vector
machine. Besides, in combination with chromatic aberration in HSI color space, targets are effectively
separated from their backgrounds. By comparison with the methods of color analysis and texture
analysis, this algorithm provides higher rate of recognition and ever better result in separating fruits
with similar colors to backgrounds.

Key words: gray level co-occurrence matrix, HSI space, support vector machine, segmentation