A system includes an agricultural harvester with an electromagnetic detecting and ranging module and a camera for capturing images of an area within a field of view of the electromagnetic detecting and ranging module. One or more computing devices detect the presence of an object using data from the electromagnetic detecting and ranging module, use image data from the camera to determine whether the object is a receiving vehicle and, if the object is a receiving vehicle, generate automated navigation data to automatically control operation of at least one of the agricultural harvester and the receiving vehicle to align an unload conveyor of the agricultural harvester with a grain bin of the receiving vehicle.