Modern agriculture in Japan faces a variety of problems. Among them are the problems of labor shortage, aging of the population, and high hurdles for newcomers to agriculture, and the number of farmers is decreasing year by year. In order to alleviate the burden of these problems on farmers, smart agriculture is being promoted. The main goal of our laboratory is to develop a tomato harvesting robot that can be used in actual farms. we use image processing to recognize the target crop, tomatoes, and obtain accurate coordinates. The objective of this study is to improve the recognition accuracy so that this sequence of events can be performed without delay.