| 摘要 |
A teat modeling device (10) includes a housing with an illumination unit (105) operative to project a structured light pattern (240) on at least one teat of a dairy animal and a camera (115) axially aligned with the illumination unit (105) and positioned between the illumination unit (105) and the at least one teat of the dairy animal, wherein the camera (115) is operative to capture images of the structured light pattern (240) reflected off the at least one teat. A teat modeling device8110) further includes a memory unit (145) storing expected shape parameters of the at least one teat based on a pre-defined shape of the at least one teat and a processor (125) operative to compute a three dimensional model of the at least one teat based on the stored parameters, positioning of the reflected pattern (240) on the image and spacing between elements of the reflected pattern (240). |
