Detecting and tracking honeybees in 3D at the beehive entrance using stereo vision

EURASIP Journal on Image and Video Processing

Table 5 Detailed segmentation results

Capture	Activity	Light	Shadows	Camera	TN	FP
					rate(%)	rate(%)
Capture 2	++	VU	+++	L	11.02	28.81
Capture 5	+	U	++++	L	0.00	27.97
Capture 7	+	U	+++	L	0.00	17.80
Capture 8	++	S	+++	H	6.78	16.10
Capture 1	++	S	+++	L	1.69	15.25
Capture 4	++	S	+++	L	0.00	9.32
Capture 3	+++	S	++	H	8.47	5.93
Capture 6	++	VS	+	H	0.85	3.39
Capture 9	++	VS	+	H	0.00	0.00

Segmentation results per capture and acquisition condition. Activity (average number of flying bees per frame): +, less than 1; ++, between 1 and 8; +++, more than 8. Light: VU, very unstable; U, unstable; S, stable; VS, very stable. Shadows, intensity of shadows. Camera: L, low position; H, 10 cm higher. TN rate, true negative rate; FP rate, false positive rate.