System and method for assisted or automated crop transfer

A harvester comprising:

• a crop processor for reducing crop material to processed crop;
• a crop transfer arm for transferring processed crop material to a receiving vehicle;
• a vision system comprising:
• a first camera having a first field of view and positioned on a first side of a crop transfer arm, and
• a second camera having a second field of view and positioned on a second side of the crop transfer arm, the second side being opposite the first side, wherein the first camera is separated from the second camera along two axes;
• and
• a control system configured to:
• use image data from the first camera and image data from the second camera to detect the presence of the receiving vehicle and to determine a distance between the harvester and the receiving vehicle, and
• generate control signals for automatically aligning the crop transfer arm with the receiving vehicle.