In this paper, we consider a computational method for detecting trees on the basis of airborne laser scanning (ALS) data. In the approach, locations, heights, and crown shapes of trees are tracked automatically by fitting multiple 3-D crown height models to ALS data of a field plot. The estimates are computed with an iterative reconstruction method based on Bayesian inversion paradigm. The formulation allows for utilizing prior information on tree shapes in the estimation. Here, the prior models are written based on field measurement data and allometric models for tree shapes. The feasibility of the approach is tested with ALS and field data from a managed boreal forest. The algorithm found 70.2% of the trees in the area, which is a clear improvement compared to a usual 2.5D crown delineation approach (53.1% of the trees detected).