Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock

A method, comprising:

• accessing an image signal generated by a camera, the image signal corresponding to one or more features of a dairy livestock;
• determining, based on the image signal, positions of each of the hind legs of the dairy livestock;
• determining, based on the image signal and the determined positions of the hind legs of the dairy livestock, a position of an udder of the dairy livestock;
• determining, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein determining the spray position comprises processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder, the spray position being a position relative to the intersection of the two tangents.