Based on the dynamic structure, we design a system that can perform accurate stromule image segmentation, branch tip detection and tracking automatically. We substitute the user constraints in active contour segmentation by spatial fuzzy c-means clustering for providing more precise segmentation result. Based on the segmented contour after smoothing, we create a surface normal based feature that can accurately detect
the branch tips. We further combine normal information together with tip position coordinate to apply ICP to track the branch tips moving path.