Abstract: There is the uncertainty problem of characteristic match in the two dimensional images process of tomato acquired by robot binocular vision in natural growth condition. With the biological information of near-infrared spectrum and visible spectrum, the tomato’s effective centric spots of multi-sensors image fusion are obtained in the binocular matching search, and the epipolar constraint and the unique constraint are adopted to do the regional bi-directional matching.. The results indicated that the match method may realize the only match of the target and had the high accuracy rate.