1. A method of guiding a vehicle, the method comprising: identifying windrow pixels associated with a windrow within a collected image; defining a search space with respect to a vehicle, the search space containing a series of scan line segments; determining respective spatial correlations between the defined search space and the windrow pixels for different angular displacements of the search space; determining a desired vehicular heading as a preferential angular displacement associated with a generally maximum spatial correlation between the defined search space and the windrow pixels; estimating a central point associated with the windrow based on pixel intensity of the windrow pixels; and estimating an offset of the vehicle to the central point of the windrow or a depth axis to achieve the desired vehicle heading and desired position of the vehicle with respect to the windrow.