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According to the characteristics of green apple images, this paper designed a segmentation method which is merged after extraction. First of all, the contrast limited adaptive histogram equalization (CLAHE) algorithm was used to increase the color difference between the fruit and the background , and then obtained R - B image. The normal light region of fruit was extracted. Reoccupy open and close operation was processed after CLAHE, to extract the local maximum values, and highlighted area was extracted. Finally full fruit target area was obtained by merging the two regions . In order to verify the effectiveness of the method, hough algorithm is used to detect circle, and three evaluation indexes is applied to quantitative assessment of the method , which are the relative error, relative error of the circle and relative error of the radius. This method has good recognition effect under both the frontlighting and backlight , and it can satisfy the requirement of precise localization of robot.