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The potential exists for significantly reducing operating costs by minimizing missing and overlap in successive agricultural field operations, particularly in areas where the equipment is pull-behind and widths of over fifteen meters are common. This paper reports on the development of a sensor, consisting of a video camera and image processing system, to detect the location of the demarcation line between tilled-and-untilled soil and cut-and-standing crop. The development of hardware and software to achieve real-time operation under a variety of crop, soil and ambient lighting conditions is described.