A system for optimizing feeding of freely swimming fish in a fish farming enclosure in an aquaculture environment , the system comprising: a stereo digital camera for immersion underwater in the fish farming enclosure and for capturing digital images of freely swimming fish in the fish farming enclosure; an image processing system of, or operatively coupled to, the stereo digital camera, the image processing system comprising one or more processors, storage media, and one or more programs stored in the storage media and configured for execution by the one or more processors; a feed optimization system of, or operatively coupled to, the image processing system, the feed optimization system comprising one or more processors, storage media, and one or more programs stored in the storage media and configured for execution by the one or more processors; wherein the one or more programs of the image processing system are configured to use a trained convolutional artificial neural network to compute a depth map from digital images captured by the stereo digital camera depicting freely swimming fish; wherein the one or more programs of the image processing system are configured to generate biomass estimates based on the depth map computed using the trained convolutional artificial neural network from digital images captured by the stereo digital camera; wherein the one or more programs of the feed optimization system are configured to: receive the biomass estimates from the image processing system; determine a feed dosage based on a feed optimization model and the biomass estimates, the feed dosage being a feed dosage rate or a feed dosage amount; and cause a feed doser system to dispense an amount of feed into the fish farming enclosure based on the feed dosage. a stereo digital camera for immersion underwater in the fish farming enclosure and for capturing digital images of freely swimming fish in the fish farming enclosure; an image processing system of, or operatively coupled to, the stereo digital camera, the image processing system comprising one or more processors, storage media, and one or more programs stored in the storage media and configured for execution by the one or more processors; a feed optimization system of, or operatively coupled to, the image processing system, the feed optimization system comprising one or more processors, storage media, and one or more programs stored in the storage media and configured for execution by the one or more processors; wherein the one or more programs of the image processing system are configured to use a trained convolutional artificial neural network to compute a depth map from digital images captured by the stereo digital camera depicting freely swimming fish; wherein the one or more programs of the image processing system are configured to generate biomass estimates based on the depth map computed using the trained convolutional artificial neural network from digital images captured by the stereo digital camera; wherein the one or more programs of the feed optimization system are configured to: receive the biomass estimates from the image processing system; determine a feed dosage based on a feed optimization model and the biomass estimates, the feed dosage being a feed dosage rate or a feed dosage amount; and cause a feed doser system to dispense an amount of feed into the fish farming enclosure based on the feed dosage. receive the biomass estimates from the image processing system; determine a feed dosage based on a feed optimization model and the biomass estimates, the feed dosage being a feed dosage rate or a feed dosage amount; and cause a feed doser system to dispense an amount of feed into the fish farming enclosure based on the feed dosage. <EOS>