A method (S100) for detecting real lateral locations of target plants relative to an autonomous machine comprises, at the machine: • recording (S120) a first image of a ground area at a ground-facing camera arranged proximal a front of the machine; • detecting (S130) a first target plant in the first image; • accessing (S132) a lateral pixel location of the first target plant in the first image; • at a depth sensor proximal the front of the machine and defining a field of view encompassing a subregion of the ground area, estimating (S140) a depth of the subregion of the ground area; • for each tool module in a set of tool modules arranged behind the ground-facing camera and in contact with a plant bed surface: ∘ recording (S150) an extension distance of the tool module from a toolbar to which the set of tool modules are mounted; and ∘ recording (S152) a lateral position of the tool module relative to the ground-facing camera; • estimating (S160) a surface profile of the plant bed surface based on the extension distance of each tool module in the set of tool modules and the lateral position of each tool module in the set of tool modules; • estimating (S170) a depth profile based on the surface profile and the depth of the subregion of the ground area; • estimating (S180) a real lateral location of the first target plant relative to the machine based on the lateral pixel location of the first target plant and the depth profile of the plant bed surface proximal a first target plant; and • driving (S190) a first tool module in the set of tool modules to a lateral position laterally aligned with the real lateral location of the first target plant. • recording (S120) a first image of a ground area at a ground-facing camera arranged proximal a front of the machine; • detecting (S130) a first target plant in the first image; • accessing (S132) a lateral pixel location of the first target plant in the first image; • at a depth sensor proximal the front of the machine and defining a field of view encompassing a subregion of the ground area, estimating (S140) a depth of the subregion of the ground area; • for each tool module in a set of tool modules arranged behind the ground-facing camera and in contact with a plant bed surface: ∘ recording (S150) an extension distance of the tool module from a toolbar to which the set of tool modules are mounted; and ∘ recording (S152) a lateral position of the tool module relative to the ground-facing camera; ∘ recording (S150) an extension distance of the tool module from a toolbar to which the set of tool modules are mounted; and ∘ recording (S152) a lateral position of the tool module relative to the ground-facing camera; • estimating (S160) a surface profile of the plant bed surface based on the extension distance of each tool module in the set of tool modules and the lateral position of each tool module in the set of tool modules; • estimating (S170) a depth profile based on the surface profile and the depth of the subregion of the ground area; • estimating (S180) a real lateral location of the first target plant relative to the machine based on the lateral pixel location of the first target plant and the depth profile of the plant bed surface proximal a first target plant; and • driving (S190) a first tool module in the set of tool modules to a lateral position laterally aligned with the real lateral location of the first target plant. <EOS>