Raster to vector (polygons) with generalisation

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I have created rasters showing different types of vegetation (bushes, trees, open land) with help from lidar data. Now I'm looking for a method to turn these images into polygons.

I'm using a Mac and preferably QGIS, GDAL, GRASS etc. I do have the possibility to use Windows but I'd prefer staying in Mac OS X.

Here is the source image:


Blue (with some red) means trees and red is bushes. White is open land.

And this image (drawn by hand) is kind of what I'd like to achieve:


Any ideas?

I've tried r.neighbors some but I'm not satisfied.



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