Low-latency multicamera 3D tracking of insects with Braid

Advances in camera technology and computer vision techniques have allowed researchers to track animals in 3D in ways which previously were difficult or impossible. Many such 3D tracking tools make use of multiple cameras, but unfamiliarity with the principles and technology involved can make it difficult to employ such techniques. In this protocol, we describe Braid, open-source software for live, multi-camera 3D tracking of insects. Using background-subtraction, Braid performs detection of objects without requiring the use of physical markers affixed to the insect. Braid constructs low-latency 3D position estimates using Kalman filtering and nearest neighbor data association. We document in detail the process of tracking freely flying bees within a flight arena using Braid. This protocol includes instructions on installation, configuration of cameras, setup, calibration, and operation. Within the system described here, we demonstrate that Braid can achieve position estimates accurate to <1 millimeter (within a 0.3 cubic meter volume). These factors make Braid suitable for tracking small, fast-flying animals like insects. Braid's low latency allows live tracking, removing the necessity to collect large video files and making it suitable for integration in closed loop systems such as virtual reality. Code is available at https://github.com/strawlab/strand-braid