A vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to position the robotic arm adjacent to the dairy livestock and acquire a 3D image using the 3D camera. The processor is further configured to identify a set of teat candidates within the 3D image and to filter the set of teat candidates based on one or more filtering rules. The processor is further configured to determine an aggregate teat candidate score for the consolidated set of teat candidates, compare the aggregate teat candidate score to a score threshold value, and update teat location information for the dairy livestock in response to determining the aggregate teat candidate score is greater than or equal to the score threshold value.