A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle, the method comprising: receiving, at data processing hardware, images from a rear camera positioned on a back portion of a vehicle and in communication with the data processing hardware; determining, by the data processing hardware, a region of interest within the images, the region of interest including a representation of the trailer hitch; determining, by the data processing hardware, a path based on a coupler location (L TC), the path ending when the tow vehicle is attached to the trailer; and sending, from the data processing hardware to a drive system, instructions causing the tow vehicle to autonomously drive in a rearward direction along the path, characterized by that the method further comprises: determining, by the data processing hardware, a three-dimensional point cloud representing objects inside the region of interest; determining, by the data processing hardware, a camera plane where the rear camera moves based on the received images; projecting, by the data processing hardware, the cloud points onto the camera plane; determining, by the data processing hardware, the coupler location (L TC) based on the projected cloud points onto the camera plane; wherein the method further includes: determining, by the data processing hardware, an alignment direction of the trailer with respect to the vehicle based on the projected cloud points onto the camera plane; wherein the path is based on the alignment direction. receiving, at data processing hardware, images from a rear camera positioned on a back portion of a vehicle and in communication with the data processing hardware; determining, by the data processing hardware, a region of interest within the images, the region of interest including a representation of the trailer hitch; determining, by the data processing hardware, a path based on a coupler location (L TC), the path ending when the tow vehicle is attached to the trailer; and sending, from the data processing hardware to a drive system, instructions causing the tow vehicle to autonomously drive in a rearward direction along the path, characterized by that the method further comprises: determining, by the data processing hardware, a three-dimensional point cloud representing objects inside the region of interest; determining, by the data processing hardware, a camera plane where the rear camera moves based on the received images; projecting, by the data processing hardware, the cloud points onto the camera plane; determining, by the data processing hardware, the coupler location (L TC) based on the projected cloud points onto the camera plane; wherein the method further includes: determining, by the data processing hardware, an alignment direction of the trailer with respect to the vehicle based on the projected cloud points onto the camera plane; wherein the path is based on the alignment direction. determining, by the data processing hardware, a three-dimensional point cloud representing objects inside the region of interest; determining, by the data processing hardware, a camera plane where the rear camera moves based on the received images; projecting, by the data processing hardware, the cloud points onto the camera plane; determining, by the data processing hardware, the coupler location (L TC) based on the projected cloud points onto the camera plane; wherein the method further includes: determining, by the data processing hardware, an alignment direction of the trailer with respect to the vehicle based on the projected cloud points onto the camera plane; wherein the path is based on the alignment direction. determining, by the data processing hardware, an alignment direction of the trailer with respect to the vehicle based on the projected cloud points onto the camera plane; wherein the path is based on the alignment direction.