Time of Flight Based Teat Detection
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Time of flight is an imaging technique with uses depth information to capture 3D information in a scene. Recent developments in the technology have made ToF cameras more widely available and practical to work with. The cameras now enable real time 3D imaging and positioning in a compact unit, making the technology suitable for variety of object recognition tasks
An object recognition system for locating teats is at the center of the DeLaval VMS, which is a fully automated system for milking cows. By implementing ToF technology as part of the visual detection procedure, it would be possible to locate and track all four teat’s positions in real time and potentially provide an improvement compared with the current system.
The developed algorithm for teat detection is able to locate teat shaped objects in scenes and extract information of their position, width and orientation. These parameters are determined with an accuracy of millimeters. The algorithm also shows promising results when tested on real cows. Although detecting many false positives the algorithm was able to correctly detected 171 out of 232 visible teats in a test set of real cow images. This result is a satisfying proof of concept and shows the potential of ToF technology in the field of automated milking.
Place, publisher, year, edition, pages
2009. , 48 p.
time of flight, tof, automatic, milking, teat, detection, recognition, 3d, imaging, cow
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-19292ISRN: LiTH-ISY-EX--09/4154 --SEOAI: oai:DiVA.org:liu-19292DiVA: diva2:224321
Subject / course
Computer Vision Laboratory
Nordberg, Klas, Associate Professor