<p>This paper presents a cost-effective autonomous valet parking system utilizing around view monitoring (AVM) cameras to establish a closed-loop system encompassing perception, decision, and control. First, to perceive the surrounding environment, top-view images from the AVM system are processed to perform RANSAC-based parking slot detection (PSD) and vehicle pose estimation (VPE). Next, a mechanically feasible parking path to an empty slot is planned, considering the constraints of the AVM system and a steering actuator. Finally, a kinematic-based vehicle controller is proposed to accurately track the planned parking path. For practical validation, the system’s control variables are experimentally quantified using raw data obtained from the steering system, brake, and transmission lever. The results demonstrate that the proposed AVM-based autonomous valet parking system can effectively guide and control a vehicle within a parking environment using only AVM cameras. Additionally, the limitations and potential enhancements of the proposed approach are discussed to support the advancement of future autonomous parking technologies.</p>