Figure 4
From: Detecting and tracking honeybees in 3D at the beehive entrance using stereo vision
Intensity image of the beehive entrance. Beehive entrance captured by a stereo camera. The annotations (shapes on the intensity images) were based on manual observation of the motion (comparing sequential images) and the information provided by both the intensity and the disparity images. Here we distinguish 19 flying bees (red triangles), 7 walking bees (blue circles), and 6 bee shadows (green squares).