This paper presents the comparative study of various color space models to determine the suitable color space model for detection of green sweet peppers. The images were captured by using CCD cameras and infrared cameras and processed by using Halcon image processing software. The LED ring around the camera neck was used as an artificial lighting to enhance the feature parameters. For color images, CieLab, YIQ, YUV, HSI and HSV whereas for infrared images, grayscale color space models were selected for image processing. In case of color images, HSV color space model was found more significant with high percentage of green sweet pepper detection followed by HSI color space model as both provides information in terms of hue/lightness/chroma or hue/lightness/saturation which are often more relevant to discriminate the fruit from image at specific threshold value. The overlapped fruits or fruits covered by leaves can be detected in better way by using HSV color space model as the reflection feature from fruits had higher histogram than reflection feature from leaves. The IR 80 optical filter failed to distinguish fruits from images as filter blocks useful information on features. Computation of 3D coordinates of recognized green sweet peppers was also conducted in which Halcon image processing software provides location and orientation of the fruits accurately. The depth accuracy of Z axis was examined in which 500 to 600 mm distance between cameras and fruits was found significant to compute the depth distance precisely when distance between two cameras maintained to 100 mm.