Patent Document ID: 9635834
Application ID: 12812633
Patent Status: 1

Claim One:
1. An arrangement for determining a position of an animal in a milking stall, comprising: a first three-dimensional camera configured to be directed towards at least one teat of the animal for recording a first three-dimensional image of the at least one teat at a first angle of view of the animal: a second three-dimensional camera configured to be directed towards the animal for recording a second three-dimensional image of the animal at a second angle of view of the animal different than the first angle of view, wherein the second three-dimensional camera is located above the animal and is directed downwards towards the animal; and an image processing device that: detects the animal and determines the position of the animal in at least one spatial dimension using the second three-dimensional image of the animal, wherein the at least one spatial dimension is a substantially longitudinal direction of the milking stall; forms a three-dimensional surface representation of a top portion of the animal from the second three-dimensional image of the animal; analyzes a surface of the three-dimensional surface representation by comparing heights of portions of the surface of the three-dimensional surface representation that are located adjacent to one another; and determines the position of the animal in the substantially longitudinal direction of the milking stall based on the analysis of the surface of the three-dimensional surface representation.