A method of aligning a tow vehicle with a trailer positioned behind the tow vehicle, the method comprising: determining, by data processing hardware, a point cloud map of a rear environment of the tow vehicle, the rear environment including the trailer; determining, by the data processing hardware, a front face plane of the trailer based on the point cloud map; determining, by the data processing hardware, a normal line of the front face plane; and determining, by the data processing hardware, a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane, wherein the method further comprises: receiving images from a camera positioned on a back portion of the tow vehicle and in communication with the data processing hardware; determining at least three three-dimensional positions of the rear camera from the received images, while the tow vehicle is moving; determining a camera plane based on the at least three three-dimensional positions; and wherein determining the front face of the trailer based on the point cloud map includes: determining clusters of points within the point cloud map; for each cluster, determining a center of the cluster; projecting the center of the cluster on the camera plane; determining the cluster associated with the center having the shortest distance to a center of the camera; and determining the front face plane based on the points of the cluster of points having the shortest distance to the center of the camera. determining, by data processing hardware, a point cloud map of a rear environment of the tow vehicle, the rear environment including the trailer; determining, by the data processing hardware, a front face plane of the trailer based on the point cloud map; determining, by the data processing hardware, a normal line of the front face plane; and determining, by the data processing hardware, a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane, wherein the method further comprises: receiving images from a camera positioned on a back portion of the tow vehicle and in communication with the data processing hardware; determining at least three three-dimensional positions of the rear camera from the received images, while the tow vehicle is moving; determining a camera plane based on the at least three three-dimensional positions; and receiving images from a camera positioned on a back portion of the tow vehicle and in communication with the data processing hardware; determining at least three three-dimensional positions of the rear camera from the received images, while the tow vehicle is moving; determining a camera plane based on the at least three three-dimensional positions; and wherein determining the front face of the trailer based on the point cloud map includes: determining clusters of points within the point cloud map; for each cluster, determining a center of the cluster; projecting the center of the cluster on the camera plane; determining the cluster associated with the center having the shortest distance to a center of the camera; and determining the front face plane based on the points of the cluster of points having the shortest distance to the center of the camera. determining clusters of points within the point cloud map; for each cluster, determining a center of the cluster; projecting the center of the cluster on the camera plane; determining the cluster associated with the center having the shortest distance to a center of the camera; and determining the front face plane based on the points of the cluster of points having the shortest distance to the center of the camera.