Before revision:  The decoded waggle orientation has an average error of -2.92 \deg (SD = 7.37 \deg ), well within the range of human error. To evaluate and exemplify the system's performance, a group of bees was trained to an artificial feeder, and all dances in the colony were automatically detected, decoded and mapped. The system presented here is the first of this kind made publicly available, including source code and hardware specifications. We hope this will foster quantitative analyses of the honey bee waggle dance.
After revision:  The decoded waggle orientation has an average error of -2.92 \deg (SD = 7.37 \deg