A vision system for determining an identity of an individual animal in a population of animals with known identity is provided. A first image sensor arrangement is configured to capture three-dimensional or thermographic images of the individual animal. A second image sensor arrangement is configured to capture two-dimensional images of the individual animal. Control circuitry is configured to obtain a first image of the individual animal captured by the first image sensor arrangement and to detect a body part in the first image, and in response to detecting the body part, obtain a second image of the individual animal captured using the second image sensor arrangement, and to identify the individual animal by comparing metrics of the second image with the reference data in a data storage.