A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image. The system further includes a robotic attacher configured to position milking equipment relative to the dairy livestock based at least in part upon the light intensity image, excluding the discarded pixel