Abstract: In order to provide picking robot with complete contour of litchi, hue component of HSV color space was selected, and the rotation of hue was used as the feature for image segmentation. Then, fuzzy clustering algorithm was utilized to obtain the appropriate initial evolution curve contour automatically, the sparse field level set method was adopted to extract the target region precisely, and the segmentation regions were labeled. The label image could restore the original image of the segmented regions. Finally, the results show that the proposed algorithm can not only overcome the impact of random noise interference, but also maintain the integrity of the segmentation area, and the correct segmentation rate is up to 84.1%.