A vision system for use with an automated control system of a passenger boarding bridge includes an inclinometer for determining tilt data relating to deviation of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane. The system also includes an imager disposed near the aircraft-engaging end of the passenger boarding bridge, for capturing image data relating to a portion of the aircraft proximate an expected stopping location of the doorway. A memory element having template image data stored retrievably therein is also provided. The template image data relates to at least a template image including a feature that is indicative of the location of the doorway of the aircraft. The vision system further includes an image data processor for determining alignment data for use in aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft. The alignment data being determined based upon the tilt data, the image data, and the template image data.