Patent Document ID: 10143177
Application ID: 15910461
Patent Status: 1

Claim One:
1. A vision system comprising: a laser configured to generate a profile signal of at least a portion of a dairy livestock, wherein the profile signal comprises: one or more rising distance gradients indicating an increase in the distance between the dairy livestock and the laser; and one or more falling distance gradients indicating a decrease in the distance between the dairy livestock and the laser; and a processor operably coupled to the laser, and configured to: obtain the profile signal; detect one or more edge pair candidates in the profile signal, wherein each of the one or more edge pair candidates comprises complementary distance gradients comprising a rising distance gradient and a falling distance gradient; compare the complementary distance gradients of each of the one or more edge pair candidates to a minimum distance gradient length to be considered an edge pair; identify an edge pair from among the one or more edge pair candidates as a teat candidate based on the comparison, wherein the edge pair comprises complementary distance gradient lengths greater than or equal to the minimum distance gradient length; and determine position information for the teat candidate.