A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.