This research project aims to improve picking efficiency of apple harvester using advanced computer vision. It will focus on rapid picking methods like SLAM, visual obstacle and occlusion avoidance. The goal of this research is to deepen our understanding of apple picking using modern robots. The research work is closely connected to Machine Vision and visual Servo Design. This project has also been provisionally approved by the Ministry of Science and Technology China and currently being reviewed in Ministry of Science and Technology Pakistan under protocol 18 and 19 of Intergovernmental research collaborations.