Figure 9
From: Detecting and tracking honeybees in 3D at the beehive entrance using stereo vision
Four segmented targets. Four segmented targets and corresponding extracted ellipses for four pairs of intensity and disparity images. Depth is available for pairs (a) and (b), but not for (c) and (d). Depth is unavailable for (c) and (d) as the target in (c) is far away and too small, and the target in (d) is too close (out of the disparity range). Contrary to (a) and (c), (b) and (d) are in cluttered conditions (motion in the background).