However, autonomous harvesting robots have not yet been commercially applied in horticultural practice. Apparently, the price and performance of harvesting robots do not yet meet the requirements for their successful introduction in horticultural practice. For instance, the success rates reported so far were 60% for a tomato harvesting robot (Balerin et al., 1991), 70% for a cherry tomato harvesting robot (Kondo et al., 1996) and 62.5% for an eggplant harvesting robot (Hayashi et al., 2001).