Three-Dimensional Phenotypic Measuring System for Animals

This invention relates to a system for evaluating the physical characteristics of animals and more particularly to a laser system for three dimensional measuring. Even more particularly, the invention relates to projecting laser light toward an animal, measuring the reflection of the light from the animal, and using the measured light to develop a three-dimensional surface scan that can be used to measure both the linear and volume related characteristics of the animal.

Throughout the history of the domestic livestock industry, mankind has attempted to measure animals, whether the need was to be taller, longer, thicker, leaner, wider or stronger, taking accurate measurements quickly has always been important. In modern times it has become more and more important to measure offspring of sires and compare those groups of offspring with like kind. Obviously, the sires that provide improved offsprings are in great demand and can provide the most improvement to a breed. Much of the future genetic progress will be attributed to our ability to improve the speed and accuracy of measuring animals.

We have evolved from measuring horses by using the approximate width of a hand; for example, a horse could be reported as 14 hands high which was about 56 inches. Currently some animals are measured at 15 different conformation points, however, most often the measurements are only visual appraisals, with even a tape measure being seldom used. Thus, there is tremendous need for more information and the improved accuracy of that information to accelerate breed progress.

One method of compiling data is shown in U.S. Pat. No. 4,745,472 issued May 17, 1988 to Hayes, entitled "Animal Measuring System". This method uses a video camera to take a picture of the animal, and then the picture is processed by a computer system to determine the measurements. Plastic patches were placed on several points of the animal, and measurements were made of only these points. Since this system uses a conventional video camera, it can only measure in two dimensions using a single camera. Thus, in addition to the camera measurement, additional hand measurements usually need to be made, or the data from several cameras must be coordinated. Coordination of the data from several cameras is a difficult task, requiring manual interpretation by a skilled operator.

It is thus apparent that there is a need in the art for an improved system which measures physical characteristics of an animal. There is further need in the art for such a system to measure in three dimensions. Another need is for such a system that does not require that patches be affixed to the animal before measuring. A still further need is for such a system that can measure in three dimensions using a single camera to provide both linear and volume measurements as well as improving the speed of measuring. The present invention meets these and other needs.

It is an aspect of the invention to measure physical characteristics of an animal.

It is another aspect of the invention to measure the physical characteristics using reflected laser light.

Still another aspect is to measure the physical characteristics in three dimensions from a single camera.

Accurate three-dimensional information can be collected from a single location using reflected laser light. A three dimensional image is created by projecting several laser light beams (signals) and measuring their reflection. One device for performing this function is a laser, or lidar, camera, such as the Lasar.TM. camera manufactured by Sumitomo Corporation. The laser camera projects hundreds of thousands of modulated laser signals to scan an area and measure the distance at each point between the camera and the surface of the animal, thus providing a total modeling of the animal surface. The camera can send 8 to 10 modulated laser signals to each linear inch of the surface of the animal, that is, 64 to 100 signals per each square inch of the animal, depending upon the distance between the camera and the animal. Using this camera, a pattern of laser beams measuring 1000 vertical and 1000 horizontal points are transmitted to the animal and their reflection returned to the camera in a very short time.

Because animals are symmetric, an image need only be taken of one side of the animal. Thus a single lidar camera at a single location provides all the three-dimensional information necessary for conformation of an animal. With some breeds, such as dairy cows, it may be necessary to use a second camera or take a second image of hidden areas; for example, a dairy cow may need a second image of the mammary system as viewed from the rear to provide additional accuracy for that portion of the animal.

A computer system selects the points of the animal desired for the conformation, measures the distance between these points to provide the conformation data, combines the selected conformation data for each animal with an identification number, and stores the conformation data and number for each animal. In addition, an image of the animal, showing the markings of the animal, may be stored along with the other conformation data.

The lidar camera and the computer that collects, supports and compiles the data can also be transported to any location, to provide a convenience for the animal owner. The camera can take an image of an animal which is standing in an open lot, housed in a box stall, standing in a stanchion, tied at halter or standing in a chute. When a chute is used, it is necessary to secure the animal by using plexiglass or a single bar on the side of the chute facing the lidar camera, and it may be appropriate to include a weighing device at the bottom of the chute to gather body weight as additional information.

A personal computer or lap top computer is used at an animal or farm location. With larger herds of cattle, however, a personal computer environment may not provide adequate memory, thus requiring a larger mainframe computer at a central office. In this environment, the camera information is transmitted to the mainframe computer via telephone lines using a modem. Either computer will collect and compile data from the lidar camera, however, a mainframe computer at a central office provides the capability of collecting a larger amount of information.

The above and other aspects, features, and advantages of the invention will be better understood by reading the following more particular description of the invention, presented in conjunction with the following drawings, wherein:

FIG. 1 shows a view of the present invention measuring and compiling data of an animal;

FIG. 2 shows a single linear latitude cross section (horizontal end view) of an animal to illustrate a portion of the image process of laser signals;

FIG. 3 shows a single linear longitude cross section (overhead view) of an animal to illustrate a portion of the image process of laser signals;

FIG. 4 shows a block diagram of the present invention;

FIG. 5 shows a side view of an animal indicating points to be located;

FIG. 6 shows a single linear longitude cross section (vertical slice) of an animal to illustrate part of the image process of laser signals; and

FIG. 7 shows a rear view of an animal indicating points to be located.

The following description is of the best presently contemplated mode of carrying out the present invention. This description is not to be taken in a limiting sense but is made merely to describe the general principles of the invention. The scope of the invention should be determined by referencing the appended claims.

FIG. 1 shows the system of the present invention that measures three-dimensional phenotypic characteristics of an animal using a laser camera. One example of a laser camera is the Lasar.TM. camera manufactured by Sumitomo Corporation, 2-2 Hitotsubashi, 1-chome Chiyoda-ku, Tokyo, 100-91 Japan, and sold in the United States by Perceptron, Inc., 23855 Research Drive, Farmington Hills, Mich. 48335.

Referring now to FIG. 1, the animal 108 shown in FIG. 1 is a dairy cow, standing in front of the laser camera 132. The cow 108 can be free standing, tied, in a stanchion or in a chute. The camera 132 generates a detailed map of the entire animal within the scanned space assigning intensity and range values to each surface point that receives a laser signal. There are 64 to 100 surface points per square inch, depending upon the distance between the camera 132 and the animal 108, each point being generated by one of the laser signals 111. FIG. 1 does not contain sufficient detail to illustrate 64 to 100 surface points per square inch, so the lines 111 represent the number of modulated laser signals that would cover the entire animal (less the tail, which has no value in conformation).

An electrical source (not shown) provides electric power for the lidar camera 132, personal computer 136 and the printer 128. In a remote environment, this electrical source can be provided by a portable generator. Connecting data cable 140 transmits the information from the camera 132 to the personal computer 136. A telephone modem 130 and wires 126 and 127 transmit data from the personal computer 136 to a main frame computer 120 and back to printer 124. A local printer 128 could also be used to print the data.

When the horizontal, vertical and distance dimensions of two points on the animal are provided by the camera 132 measurements, then the difference between those two points can easily be computed. (See FIG. 2, FIG. 3, FIG. 5, FIG. 6, and FIG. 7 and the description below for more information on these calculations.) By measuring hundreds of thousands of points on the animal, the system calculates hundreds of different measurements with an accuracy of approximately one-tenth (1/10th) of an inch. The system also calculates the volume of the barrel and mammary system of the animal. One particular advantage of the laser measurements is that the system can calculate the distance to the animal, thus avoiding inaccuracies of prior art camera systems when the animal is placed at an incorrect distance from the camera. Prior art visual measuring systems that do not use a camera are not as accurate and can only evaluate about 90 to 100 animals per day. The present invention can measure approximately 50 animals per hour.

A scale 122 can be placed under the animal to weigh the animal. The weight of the animal is sent to the computer system 136 via wiring 138 and stored with the conformation data.

The camera used in the present invention, or other types of three-dimensional scanning means, can record the scanned image with several levels of light intensity represented by gray scale values for each point scanned. For example, the Lasar.TM. camera discussed above provides 4096 levels of light intensity represented by shades of gray for each point. These gray scale levels allow the image to distinguish markings on the animal. This is particularly effective for cattle, such as Holstein cattle, which have black and white markings. These markings are similar to fingerprints in that no two cows have the same markings. By storing the photographic image of the animal along with the conformation data, the animal can be positively identified using a computer. The image of the animal and the conformation data can be printed on the printer 128 or printer 124 to ensure positive correlation between the particular animal and its conformation data.

In addition, the computer system 120 or 136 stores this data for each group of animals processed, and can scan the data bank for each new animal to ensure that the same animal is not processed more than once. This prevents mistake or fraud when taking measurements, and can identify stolen animals. Also, this relieves the owner of the animal from the tedious task of sketching the markings, if such a sketch is required to register the animal.

Some methods of branding an animal allow the brand to be readily distinguished. For example, freeze branding eliminates pigment under the animal's skin allowing the branded area to grow only white hair. An example of this numbering is shown in FIG. 1. This is used to brand a number on the animal that is easily distinguished. By branding the animal using easily recognized numbers, such as optical character recognition numbers, the lidar camera can convert the brand into a computer readable number used to positively identify the animal anytime conformation data is measured.

FIG. 2 shows a side cross section view of the animal along with the measuring system to illustrate the three-dimensional measurements of the animal. Referring now to FIG. 2, the animal is shown with the side away from the camera 132 in dotted lines. The camera 132 scans a line of the animal from the top of the animal, i.e. 106 of FIG. 1, to the floor or ground. This example helps visualize the concept of the modulated laser signals 111 as they measure distance to each surface point.

FIG. 3 shows a top view of the animal and the laser signals 111, wherein the side of the animal opposite the camera 132 is shown in dotted lines. Referring now to FIG. 3, the camera 132 scans a line of the animal from the front of the body of the animal to the rear of the animal 108 in FIG. 3. This example helps visualize the concept of the modulated laser signals 111 as they measure the distance to each point on the animal.

FIG. 4 shows a block diagram of a computer system and the laser camera of the present invention. Referring now to FIG. 4, the computer system 136 contains a processing element 402. The processing element 402 communicates to the other elements of the computer system 136 over a system bus 404. A keyboard 406 and a laser camera 132 allow input to the computer system 136. A mouse 410 provides input for locating specific points on the image of the animal as displayed on graphics display 408, which also provides a display of any other information to be viewed by a user of the computer system 136. A printer 128 allows for output to paper to be viewed by a user of the computer system 136. A disk 412 stores the software and data used by the system of the present invention, as well as an operating system and other user data of the computer system 136.

A memory 416 contains an operating system 418, and an application program 420, a phenotypic measuring system for animals. Those skilled in the art will recognize that the operating system 418 could be one of many different operating systems, including many windows-type operating systems, and that many application programs could be performing in a multi-tasking operating system.

FIG. 5 shows a screen display of side view of an animal indicating points to be located. FIG. 5 divides the view of the animal into four regions or screens. Screen A contains the front two thirds of the animal. Screen B contains the pelvic (rump) structure, Screen C contains the mammary system, and Screen D contains the hind hoof and leg alignment information. The laser camera 132 in FIG. 1 records numerous points containing the horizontal (X coordinate) and vertical (Y coordinate) positions in the picture frame, and the distance (Z coordinate) from the camera at that point. The animal image is loaded into a two dimensional array, where each X, Y location contains the Z value, the distance from the camera information.

The measuring techniques used in FIG. 5 (and also FIG. 7) are calculated by linear, angular or volummetric means. There are currently 15 conformation traits that are measured for Holstein Cows. After each trait is measured by the system, it is then converted to a scale of 1 to 50. Known as rating of each trait, this conversion to a scale of 1 to 50 compares each cow measured to those represented within the biological extremes of the breed.

Eleven of the traits use the higher ratings to represent positive biological extremes and lower ratings to represent negative biological extremes. In a non-selected large population of dairy cows the ratings will produce a bell shaped curve with very few animals at the extremes and a large portion of the animals rated closer to the breed average rating of 25.

An example of the rating of a single trait would be stature which is measured from the ground to the top of the withers. For example, in FIG. 5, Screen A, the top of slice A-3. Cows 51 inches or under are extremely short and receive 5 points or less. Those which are 55 inches are average and given 25 points. Cows that are 59 inches or taller receive 45 points or more.

Four of the 15 conformation traits that are measured use a rating of 25 (breed biological average) as the best rating. These four conformation traits are rump angle, rear leg angle, foot angle and teat length. In these traits both of the biological extremes are negative to the breed or breed improvement. An example of the rating of one of these traits would be teat length in FIG. 5, Screen C, slice C-5. A teat length of 2 to 21/2 inches is most desirable and is rated 25 points. A teat length of less than one inch is not desirable and is rated 5 points or less. Likewise, the other biological extreme of the teat length is excess of 4 inches is undesirable and is rated 45 to 50 points.

Referring now to FIG. 5, the hip bone of the animal on slice B-1 on FIG. 5 is manually designated using the mouse 410 (FIG. 4), a tracer beam (a single beam of lighting used as the animal is being pictured), or other pointer on the computer screen. This manually designated point is the starting point for all the other locations on the animal.

The hip bone is initially used to position each animal's image uniformly 10 feet from the camera. This way all animals can be consistently compared. If the hip bone, which is indicated by using the mouse as described above, is not 10 feet from the camera, the whole image of the animal is appropriately adjusted, as shown by the pseudo code in Table 1. The hip bone is the nearest point to the camera along the B-1 slice of FIG. 5.

Those skilled in the art will also recognize that the distance of the animal from the camera could also be measured from the backbone. As will be discussed below, the top of the animal, or backbone, can be determined at two different locations as the top of slice A-1 and the top of slice A-4. These two locations could be used to determine the line of the backbone, and this line could then be used to position the animal at the correct distance, and to adjust the front or rear of the animal so that the line of the backbone is perpendicular to the camera beam that traces the center of the animal.

Alternatively, each point along the top of the animal between slices A-1 and A-4 could be ascertained (as will be discussed below) and these points could be formed into a line using the technique of least squares analysis. Then this line could be used as described above.

After the image of the cow is scaled to the desired distance and size, the location of measurement points are determined. The A-6 slice on FIG. 5 is one position in front of the hip bone. This slice is used to find the top and bottom of the body, and the changes in distance from the camera along this line can also be used to determine the volume of the animal at this location. The following Table 2 describes how to find all the points along the A-6 slice in FIG. 5.

Most of the locations on the animal are found relative to some perimeter conditions. The following pseudo code in Table 3 describes how to follow the edge of the animal from whatever view is being used. This section of pseudo code must be given a starting point (X,Y,Z), the predominant direction for both X (length) and Y (height), and the terminating conditions, such as an abrupt change in Z (distance) coordinate, generally 2% or greater, along the X or Y axis in the predominant direction (some obstacle was found or animal does not continue in that direction) or the ground has been found. As the leg and hoof approach the ground the changes in the Z (distance) coordinate are less pronounced than on the rest of the animal. The pseudo code in Table 3 is referenced many times in the following tables.

In the following pseudo code Table 3, the starting point is the top of the A-6 slice in Screen A of FIG. 5 that was located in Table 2. Both the X (length) and Y (height) coordinates will predominantly increase, until the Z (distance) coordinate is abruptly decreases between two X (length) coordinates. After performing the pseudo code of Table 3 along the back of the animal from the top of the A-6 slice, the animal's ear, or the head lock or stanchion holding the animal will be reached.

The top of A-1 slice on FIG. 5 was located using the pseudo code shown in Table 3. The A-1 slice in Screen A of FIG. 5 is one of the reference points needed on the animal. Also, this slice helps evaluate the confirmation of the animal. Table 4 describes the pseudo code needed to follow the A-1 slice across the neck of the animal.

After the top and bottom of the A-1 slice are identified, the near front leg must be found. Use the pseudo code in Table 3 to move along the bottom of the neck. Start from the bottom of the A-1 slice in Screen A of FIG. 5 found in Table 4, and both the X (distance) and Y (height) coordinates will predominantly be reduced, until the Z (distance) coordinate is abruptly reduced when the near upper leg is reached. Save the first point located on the near upper leg. This point is used to call Table 3 again.

Again use the pseudo code in Table 3 to move down the near front leg until the ground is located. Start from the first point located on the near upper leg, reduce the Y (height) and X (length) coordinates until no significant change in Z (distance) can be detected. The ground at the front of the near front leg has been reached.

The back of the near front leg must be detected to identify the bottom of the A-3 slice. Since the edge of the animal can not be detected when it merges with the ground, use Table 3 to move back up the front of the near front leg until the Y (height) coordinate increases by two inches. Start from the last point identified on the animal when moving down the front of the near front leg, the Y (height) coordinate will be predominantly increased and the X (length) coordinate will be predominantly reduced, until the Y (height) coordinate has been increased by two inches from the starting point.

Table 5 contains the pseudo code needed to move across the near front leg to the back of that leg two inches above the ground. The back of the near front leg is detected by an abrupt change in the Z (distance) coordinate.

In order to find the bottom of the A-3 slice in Screen A of FIG. 5, the ground under the back of the near front leg must be located. This is done by using the pseudo code in Table 3. The starting point is the back of the front leg located in Table 5. The Y (height) coordinate is predominantly reduced and the X (length) coordinate is predominantly increased, until no significant change in the Z (distance) coordinate can be detected in any direction. Save the point just prior to when no distance change could be detected as the bottom of the A-3 slice in Screen A of FIG. 5.

The horizontal distance between the X (length) coordinate of the A-1 slice and A-3 slice determines the length of the neck of this animal and is rated.

The A-3 slice is used as a reference point and the coordinates along this line are used to grade the strength and dairy form of the animal, as shown by the pseudo code of Table 6. The top of the A-3 slice determines the stature of the animal and is rated.

The A-2 slice in Screen A of FIG. 5 is also used to determine the strength and dairy form of the current animal. The A-2 slice is 60% of the way between the X (length) coordinates of the A-3 slice, and the A-1 slice. The pseudo code in Table 7 shows the rating of A-2 slice.

The A-4 slice in Screen A of FIG. 5 also determines the strength and dairy form of the animal. To locate the A-4 slice begin at the bottom of the A-6 slice identified in Table 2 and use the pseudo code in Table 3 to move forward until the near front leg is found, then move back off the leg. Start from the bottom of the A-6 slice. Both the X (length) and Y (height) coordinate will predominantly increase, until the Z (distant) coordinate is abruptly reduced to locate the near front leg. Since the A-4 slice in Screen A of FIG. 5 is behind the point of the elbow of the near front leg, call Table 3 to move back two inches. Start from the point just behind the near front leg on the animal. Both the X and Y coordinates will predominantly decrease until X has reduced by two inches from the back of the near front leg. This identifies the bottom of the A-4 slice in Screen A of FIG. 5.

The A-4 slice followed from the bottom to the top of the animal and rated in Table 8.

Only the A-5 slice on FIG. 5 remains to be identified on Screen A. The A-5 slice is 50% of the way between the A-6 slice and the A-4 slice. The A-5 slice is used to determine the body depth and strength of the current animal. The coordinates along the A-5 slice are compared with optimum measurements for these two traits and the current animal is given a grade. Table 9 describes how the A-5 slice is located and rated.

All the slices on Screen A of FIG. 5 have been identified and evaluated. FIG. 6 shows the A-4 slice from Screen A, FIG. 5 from the front. The solid line shows the Y (height) and Z (distance) coordinates from the near side of the animal. The dashed line shows the far side of the animal as a mirror image. The cow's backbone 402 is used as the center of the cow. All the slices which extend from the top to the bottom of the cow can be represented this way and used to calculate and rate the volume of the cow. Table 10 shows how these points are determined. After the circumference of the slice is identified, assume the slice is one inch thick, and calculate the volume of that slice in square inches. One inch thick, along the X axis, slices from A-4 to A-6 can be calculated and used to determine the volume of this animal.

Return to the hip bone on slice B-1 in FIG. 5 to begin evaluating Screen B. Screen B extends from the hip bone to the pin bone B-4 on FIG. 5 and down 23% of the distance between the hip bone height and the ground. Screen C extends from the hip bone to the rear of the animal, excluding the tail, and from bottom of Screen B down 75% of the height from the hip bone to the ground.

Use Table 3 to locate the ground under the front of the near hind leg D-1 on FIG. 5. The search for the ground begins from the bottom of the A-6 slice. The Y (height) coordinate predominantly decreases and the X (length) coordinate varies, until the Z (distance) coordinate has not significantly change. The last point identified on the edge of the animal is saved as the D-1 location in Screen D of FIG. 5.

Use the pseudo code in Table 11 to locate the two lines separating Screen B, Screen C, and Screen D.

In order to find the pin bone and the rear of the animal, start from the hip bone and increase the Y (height) coordinate to find the back of the animal. Pseudo code for this is shown in Table 12.

Use the pseudo code in Table 13 to follow the back of the animal until the perimeter of the animal drops far enough to know that the rear most point of the animal has been found. The pin bone is the rear most point on the cow, excluding the tail. The distance from the camera of the pin bone is compared with the hip bone and a rump angle is calculated and rated. The pseudo code for this is shown in Table 13.

The thurl bone is used to calculate linear width of the rump of the animal. The thurl bone is closest to the camera on the B-3 slice in Screen B of FIG. 5. This bone is roughly in the center of Screen B on FIG. 5. The pseudo code in Table 14 finds the thurl bone and calculates the linear width of the animal.

All the needed slices on Screen B have been identified and evaluated. Return to the hip bone on slice B-1 in Screen B of FIG. 5 to begin evaluating Screen C. Screen C extends from the hip bone to the rear of the animal, and from the lines defined in Table 11 between Screen B and Screen C and between Screen C and Screen D. Screen C is used to evaluate the mammary system of the animal. Beginning from the hip bone on B-1 in FIG. 5 locate the udder and the teats of the animal.

Then determine the length of first teat found. The pseudo code in Table 16 evaluates Screen C on FIG. 5. Starting from the bottom of the C-1 slice as located by the pseudo code of Table 15 and follow the edge of the animal watching for a change of half an inch in Y within one quarter inch in X. The first teat has been found. Measure the length of the teat for rating. Immediately after the first teat, slice C-6 is identified. The bottom of the C-6 slice is compared to the backbone and the ground to rate the udder depth of this animal.

The measurements of Screen C FIG. 5 are completed. More mammary measurements are taken from FIG. 7.

Screen D provides hoof and leg angel measurement for the current animal. If the angle of the leg to the ground is too perpendicular or too slopping, this causes other problems with this animal. The points down the front of the near hind leg were located just prior to table 11. Use Table 3 to move back up the front of the near hind leg two inches. Start from the bottom of the D-1 slice, the Y coordinate is predominantly increased and the X coordinate is predominantly decreased, until the Y coordinate is two inches above the ground level.

Table 17 moves across the near hind leg.

Use Table 3 to follow the edge of the back of the near hind leg to the ground to get the points needed to evaluate the angle of the hind leg. Start from the point on the back of the near hind leg found in Table 17, the Y coordinate is predominantly reduced and the X coordinate is predominantly increased until the edge of the animal can no longer be identified. Save the last point on the animal as the bottom of the D-4 slice in Screen D of FIG. 5. Table 18 uses the points on the front and back of the near hind leg to evaluates the angle of the hind leg.

All the feature of FIG. 5 have been evaluated now.

Referring now to FIG. 7, a rear view of the cow as it would be seen by a second laser camera placed behind the cow. FIG. 7 is divided into three areas, Screens E, F, and G. Screen E and Screen G do not contain any evaluation points. Screen F contains the mammary system as seen from the rear.

A point at the top center of the udder is manually designated using a tracer beam, mouse, or other pointer on the computer in the same manner as the hip bone was designated above. This is the primary reference point for this view of the animal. This point is used to position each animal's image uniformly 10 feet from the camera. This way all animals can be consistently compared. If the reference point is not 10 feet from the camera, the whole image of the animal is appropriately adjusted, as shown in Table 19.

After the image of the cow is scaled to the desired size and distance, the location of measurement points are determined. The line between Screen E and Screen F occurs four inches above the manually designated top center point on the udder on slice F-2 of FIG. 7.

The line between Screen F and Screen G is half the distance to the ground. The ground and the width of the animal are determined by locating the right side of the cow and following a line down the side of the cow to the ground using the pseudo code of table 3 above. Following, Table 20, contains the pseudo code to find the left and right sides of the animal on the F-2 slice.

Use Table 3 to locate the ground by going down the right side of the animal. Start from the right side of the F-2 slice, the Y coordinate is predominantly reduced and the X coordinate varies, until the edge of the animal can no longer be identified. The ground and the right side of the G-2 slice has been found.

Calculate the line between Screen F and Screen G as half the distance from F-2 to the ground.

In order to locate the bottom of the udder follow the line up the inside of the right hind leg. Locate the starting point of the udder, when the Y coordinate on the perimeter of the cow starts to move down. Save the starting point of the side of the udder and continue across the bottom of the udder. Save the bottom point of the udder to determine the depth of the udder. Table 22 contains the pseudo code to outline the inside of the animal's right hind leg and the bottom of the udder. The code to follow the edge of the animal would be similar to Table 3, but the points kept along the way are different and the terminating conditions are different.

Various points along the udder need to be identified. The lowest point on the udder, not including a teat, is needed to determine the depth of the udder. This point is also used to locate the F-6 slice in Screen F of FIG. 7 that is used for udder width measurements and rating. The pseudo code for all this is shown in Table 23.

The lowest point on a teat is needed, and the location and height of the cleft between the two sides of the udder is needed. All these points are located in the following pseudo code, Table 24.

While the general inventive concepts and systems have been described in connection with illustrative and presently preferred embodiments thereof, it is intended that other embodiments of these general concepts and systems be included within the scope of the claims of this application and any patent issued therefrom. For example, the number of traits or phenotypic characteristics of animals and the manner and methods of determining such traits or characteristics may be expanded or contracted depending upon the purposes intended and the state of knowledge with respect thereto. It is contemplated that use of the present system will enable an enhanced knowledge with respect to the correlation between measurable characteristics and traits of animals and their offspring. While the general concepts and systems of the invention have been illustrated and described by reference to a particular kind of animal, i.e., dairy cow, it is to be understood and it is contemplated that the general concepts may be applied to other kinds of animals such as dogs, pigs, beef cattle, horses, chickens, etc. and human beings for any worthwhile purpose.