The invention belongs to the technical field of intelligent cattle detection, and particularly relates to a cattle limp identification method based on back compensatory motion characteristics. According to the method, key parts of a cattle are positioned according to a back
trunk point cloud image, then back compensation features are extracted, and cattle limp recognition is carried out according to the extracted features. The back compensation features are features extracted through deep analysis according to a cattle back movement stability mechanism, and comprise compensation movement features and / or compensation
pose features; the compensatory motion characteristics comprise at least one of the average motion speed of the
waist angle bone and / or the hip angle bone in the vertical direction, the average motion speed of the
waist angle bone and / or the hip angle bone in the x direction, the landing speed of the rear
hoof, the
asymmetry of the hip angle bone and the
sacrum height difference at the landing moment of the rear
hoof; the compensatory
pose features comprise at least one of the maximum height of the spine line contour, the fitting slope of the spine line contour and the
height difference between the hip angle bone and the
waist angle bone. The limp identification can be realized without training, and the identification efficiency is improved.