Algorithm 2. The pseudo code of image segmentation and targets extraction.

Input: Captured vineyard images For all pixels in the image   If ($\mathrm{H}\left(\cdot \right)>0$)   Pixel binary value=1   Else   Pixel binary value =0   End End For all pixel regions(value for 1) in the binary image   Eliminate the regions which are smaller than 1/4 of the biggest region   Perform open and close operator to delete the adhesion noise   Fill the hole for every pixel regions   Draw the enclosing rectangle for every pixel regions End

Output: Binary image that contains only the grape clusters