Vision system with leg detection

An apparatus comprising:

• a memory storing a thigh gap detection rule set;
• and
• a processor coupled to the memory, and configured to:
• obtain a three-dimensional (3D) image of a rearview of a dairy livestock in a stall, wherein each pixel of the 3D image is associated with a depth value;
• identify one or more regions within the 3D image comprising depth values greater than a depth value threshold;
• apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region among the one or more regions, wherein the thigh gap region comprises an area between hind legs of the dairy livestock;
• demarcate an access region within the thigh gap region, wherein:
• the access region comprises a first vertical edge and a second vertical edge defining a width of the access region;
• the width of the access region corresponds with a dimension of the access region between the hind legs of the dairy livestock;
• reduce the width of the access region by shifting the first vertical edge and the second vertical edge, wherein shifting the first vertical edge and the second vertical edge comprises:
• shifting the first vertical edge toward the second vertical edge;
• and
• shifting the second vertical edge toward the first vertical edge;
• and
• determine position information for the first vertical edge and the second vertical edge of the access region.

A leg detection method comprising:

• obtaining a three-dimensional (3D) image of a rearview of a dairy livestock in a stall, wherein each pixel of the 3D image is associated with a depth value;
• identifying one or more regions within the 3D image comprising depth values greater than a depth value threshold;
• applying a thigh gap detection rule set to the one or more regions to identify a thigh gap region among the one or more regions, wherein the thigh gap region comprises a space between hind legs of the dairy livestock;
• demarcating an access region within the thigh gap region, wherein:
• the access region comprises a first vertical edge and a second vertical edge defining a width of the access region;
• the width of the access region corresponds with a dimension of the access region between the hind legs of the dairy livestock;
• reducing the width of the access region by shifting the first vertical edge and the second vertical edge, wherein shifting the first vertical edge and the second vertical edge comprises:
• shifting the first vertical edge toward the second vertical edge;
• and
• shifting the second vertical edge toward the first vertical edge;
• and
• determining position information for the first vertical edge and the second vertical edge of the access region.