Fuente: WIPO "processing tomato" The invention relates to a tomato growth environment cognitive evaluation method, which comprises the following steps: making a three-dimensional semantic map generation strategy based on deep learning and an octree map, including a semantic segmentation neural network model applied to a tomato growth environment and map construction nodes taking three-dimensional point cloud as input; objects in the tomato growth environment are classified into semantic categories; obtaining output information which is output by the last layer of the semantic segmentation model and contains semantic classification results of all pixel points; generating three-dimensional point cloud data carrying semantic information according to the semantic classification result information and the depth image information; performing outlier filtering on the three-dimensional point cloud data according to a statistical method; inputting the filtered three-dimensional semantic point cloud data into a map building node to generate a three-dimensional occupancy map; and processing the semantic information and the point cloud data according to agricultural task requirements to calculate the known degree of the tomato growth environment. The tomato growth environment three-dimensional semantic map construction and the known degree evaluation can be effectively realized.