Abstract: An agricultural apparatus configured to travel over the ground includes a pick-up device for picking up an agricultural bale from the ground. The pick-up device includes a sensing system configured to sense position and/or size of an object on the ground as the agricultural apparatus travels towards the object, a pick-up mechanism engageable with opposite sides of the object and operable to lift the object, and a controller configured to determine a position of the pick-up mechanism relative to the object based on signals received from the sensing system prior to picking-up the object, and to operate the pick-up mechanism when the pick-up mechanism is positioned correctly relative to the object.