A method for tracking a trailer coupler positioned behind a tow vehicle, the method comprising: receiving, at data processing hardware, one or more images from a camera positioned on a back portion of the tow vehicle and in communication with the data processing hardware; determining, at the data processing hardware, a trailer coupler position (312, (u, v)) within the one or more images, the trailer coupler position (312,(u, v)) associated with the trailer coupler; receiving, at the data processing hardware, vehicle sensor data from one or more vehicle sensors (142, 144, 146, 148, 150, 160) in communication with the data processing hardware; determining, at the data processing hardware, vehicle motion data (322, 324) based on the received vehicle sensor data; and determining, at the data processing hardware, an updated coupler position based on the trailer coupler position (312, (u, v)) and the vehicle motion data (322, 324), determining a pixel velocity (332, ( u̇, v̇)) of the trailer coupler within the one or more images based on the vehicle motion data (322, 324) and a previous coupler position; wherein the updated coupler position is based on the pixel velocity (332, ( u̇, v̇)) and the previous coupler position, wherein the pixel velocity (332, ( u̇, v̇)) is based on a coupler height in a real-world coordinate system, and characterized in that the method further comprises: determining the coupler height from a predetermined range; determining a first pixel point location associated with the trailer coupler based on the pixel velocity (323, ( u̇, v̇)); determining a second pixel point location associated with the trailer coupler based on the one or more images; comparing the first pixel point location and the second pixel point location; and adjusting the coupler height based on the compared first and second pixel point locations (352, 312). receiving, at data processing hardware, one or more images from a camera positioned on a back portion of the tow vehicle and in communication with the data processing hardware; determining, at the data processing hardware, a trailer coupler position (312, (u, v)) within the one or more images, the trailer coupler position (312,(u, v)) associated with the trailer coupler; receiving, at the data processing hardware, vehicle sensor data from one or more vehicle sensors (142, 144, 146, 148, 150, 160) in communication with the data processing hardware; determining, at the data processing hardware, vehicle motion data (322, 324) based on the received vehicle sensor data; and determining, at the data processing hardware, an updated coupler position based on the trailer coupler position (312, (u, v)) and the vehicle motion data (322, 324), determining a pixel velocity (332, ( u̇, v̇)) of the trailer coupler within the one or more images based on the vehicle motion data (322, 324) and a previous coupler position; wherein the updated coupler position is based on the pixel velocity (332, ( u̇, v̇)) and the previous coupler position, wherein the pixel velocity (332, ( u̇, v̇)) is based on a coupler height in a real-world coordinate system, and characterized in that the method further comprises: determining the coupler height from a predetermined range; determining a first pixel point location associated with the trailer coupler based on the pixel velocity (323, ( u̇, v̇)); determining a second pixel point location associated with the trailer coupler based on the one or more images; comparing the first pixel point location and the second pixel point location; and adjusting the coupler height based on the compared first and second pixel point locations (352, 312). determining the coupler height from a predetermined range; determining a first pixel point location associated with the trailer coupler based on the pixel velocity (323, ( u̇, v̇)); determining a second pixel point location associated with the trailer coupler based on the one or more images; comparing the first pixel point location and the second pixel point location; and adjusting the coupler height based on the compared first and second pixel point locations (352, 312).