A method for estrus detection includes storing location information associated with a dairy livestock. This information includes coordinate locations of the dairy livestock within a free stall pen at each of a plurality of times during a time period including a first time and a second time. The coordinate locations comprise at least a first (X, Y, Z) location of the dairy livestock at the first time and a second (X, Y, Z) location of the dairy livestock at the second time. The method further includes determining, based on at least the first and second (X, Y, Z) locations, a turn index parameter indicating a number of times the dairy livestock reverses directions during the time period. The method further includes determining whether the dairy livestock is likely to be in estrus based at least in part upon whether the determined turn index parameter is in excess of a baseline turn index parameter by more than a first predefined amount.