An apparatus ( 22 ) for selectively discriminating vegetation or plant matter ( 28 ) comprises a light emitting means ( 24 ), a light sensing means ( 30 ) and a distance sensing means ( 34 ). The light emitting means generates a beam of light ( 26 ) that can be directed onto plants or plant matter moving relative to the apparatus. The light sensing means senses light transmitted from said light emitting means and reflected from the plants or plant matter, and generates a reflection signal in response to the sensing of the reflected light. The distance sensing means senses the relative distance moved and generates a distance signal. A processing means ( 32 ) is operatively connected to the light sensing means and the distance sensing means to combine the reflection signal and distance signal to discriminate different types of plants or plant matter.
