A combination of a vehicle, an implement connected to the vehicle and a system for controlling a lateral position of the implement with respect to the vehicle, wherein: the implement comprises a cross beam supporting a number of row units distributed side by side along the length of the cross beam, the row units adapted to perform an agricultural operation on plants standing in rows on a field, the row units configured for weeding, spraying and/or nursing the plants; an actuator is arranged to control the lateral position of the implement with respect to the vehicle, whereby the implement is mounted to the vehicle in a manner such that lateral adjustment of the implement affected by the actuator also influences an angle (α) of the implement with respect to the vehicle around a vertical axis; at least one camera (60, 60') is mounted on the implement and connected to an image processing system (62, 62') which is adapted to derive the relative position of at least one of the rows of plants in an image provided by the at least one camera (60, 60') with respect to the camera (60, 60'); an implement control unit is configured to control the actuator to move the implement to a desired position based upon the derived position of the at least one row of plants, wherein the image processing system (62, 62') is configured to compare the derived position of the row of plants with a pre-stored or programmed nominal position of the row of plants and to provide a signal to the implement control unit indicating a possible deviation between the actual lateral position and the nominal lateral position of the implement with respect to the row of plants; and a compensation arrangement is configured to compensate for the rotation angle (α) of the at least one camera (60, 60') around the vertical axis caused by the actuator, wherein a sensor (86, 86') connected to the implement control unit is configured to sense the angle (α) of the implement with respect to the vehicle around the vertical axis and/or the implement control unit is configured to use the orientation of one or more rows of plants provided by the camera (60, 60') and the image processing system (62, 62') to determine the angle (α); characterized in that the implement control unit is configured to transform one of the derived position of the at least one row of plants and the nominal position of plants in the image to a corrected position based upon the angle (α) and to control the actuator based upon the corrected position. the implement comprises a cross beam supporting a number of row units distributed side by side along the length of the cross beam, the row units adapted to perform an agricultural operation on plants standing in rows on a field, the row units configured for weeding, spraying and/or nursing the plants; an actuator is arranged to control the lateral position of the implement with respect to the vehicle, whereby the implement is mounted to the vehicle in a manner such that lateral adjustment of the implement affected by the actuator also influences an angle (α) of the implement with respect to the vehicle around a vertical axis; at least one camera (60, 60') is mounted on the implement and connected to an image processing system (62, 62') which is adapted to derive the relative position of at least one of the rows of plants in an image provided by the at least one camera (60, 60') with respect to the camera (60, 60'); an implement control unit is configured to control the actuator to move the implement to a desired position based upon the derived position of the at least one row of plants, wherein the image processing system (62, 62') is configured to compare the derived position of the row of plants with a pre-stored or programmed nominal position of the row of plants and to provide a signal to the implement control unit indicating a possible deviation between the actual lateral position and the nominal lateral position of the implement with respect to the row of plants; and a compensation arrangement is configured to compensate for the rotation angle (α) of the at least one camera (60, 60') around the vertical axis caused by the actuator, wherein a sensor (86, 86') connected to the implement control unit is configured to sense the angle (α) of the implement with respect to the vehicle around the vertical axis and/or the implement control unit is configured to use the orientation of one or more rows of plants provided by the camera (60, 60') and the image processing system (62, 62') to determine the angle (α); characterized in that the implement control unit is configured to transform one of the derived position of the at least one row of plants and the nominal position of plants in the image to a corrected position based upon the angle (α) and to control the actuator based upon the corrected position.