Poultry pose estimation is a prerequisite for evaluating abnormal behavior and disease prediction in poultry. Accurate pose-estimation enables poultry producers to better manage their poultry. Because chickens are group-fed, how to achieve automatic poultry pose recognition has become a problematic point for accurate monitoring in large-scale farms. To this end, based on computer vision technology, this paper uses a deep neural network (DNN) technique to estimate the posture of a single broiler chicken. This method compared the pose detection results with the Single Shot MultiBox Detector (SSD) algorithm, You Only Look Once (YOLOV3) algorithm, RetinaNet algorithm, and Faster_R-CNN algorithm. Preliminary tests show that the method proposed in this paper achieves a 0.0128 standard deviation of precision and 0.9218 ± 0.0048 of confidence (95%) and a 0.0266 standard deviation of recall and 0.8996 ± 0.0099 of confidence (95%). By successfully estimating the pose of broiler chickens, it is possible to facilitate the detection of abnormal behavior of poultry. Furthermore, the method can be further improved to increase the overall success rate of verification.

The speed and accuracy of navigation road extraction and driving stability affect the inspection accuracy of cage chicken coop inspection robots. In this paper, a new grayscale factor (4B-3R-2G) was proposed to achieve fast and accurate road extraction, and a navigation line fitting algorithm based on the road boundary features was proposed to improve the stability of the algorithm. The proposed grayscale factor achieved 92.918% segmentation accuracy, and the speed was six times faster than the deep learning model. The experimental results showed that at the speed of 0.348 m/s, the maximum deviation of the visual navigation was 4 cm, the average deviation was 1.561 cm, the maximum acceleration was 1.122 m/s², and the average acceleration was 0.292 m/s², with the detection number and accuracy increased by 21.125% and 1.228%, respectively. Compared with inertial navigation, visual navigation can significantly improve the navigation accuracy and stability of the inspection robot and lead to better inspection effects. The visual navigation system proposed in this paper has better driving stability, higher inspection efficiency, better inspection effect, and lower operating costs, which is of great significance to promote the automation process of large-scale cage chicken breeding and realize rapid and accurate monitoring.

Accurate positioning is essential for inspection robots in caged chicken houses, where long straight corridors, sparse textures, and repetitive structures challenge conventional methods. This paper proposes CVIWM (Coupled Visual-Inertial-Wheel Odometry with Markers), a tightly coupled state estimation method that fuses visual, inertial measurement unit (IMU), wheel odometry (WO), and fiducial marker observations within a factor graph optimization framework. Wheel odometry preintegration suppresses IMU horizontal drift and provides absolute scale, while sparse AprilTag markers (10 m spacing) periodically reset accumulated errors. Experiments in an 80 m corridor of a commercial caged chicken house at 0.116 m/s and 0.232 m/s showed that CVIWM achieves average positioning errors of 2.402 cm and 3.253 cm. This high precision ensured reliable image acquisition (image shift $<83$ pixels), enabling 95.7% dead hen detection and 98.9% egg detection accuracy. CVIWM offers a low-cost, easy-to-deploy, high-accuracy solution for automated poultry house inspection, supporting smart livestock farming.