A method of detecting and localizing a coupler (212) of a trailer hitch (210) associated with a trailer (200) positioned behind a tow vehicle (100) is provided. The method includes determining a region of interest (300) within images (143) from a rear camera (142). The region of interest (300) includes a representation of the trailer hitch (210). The method includes determining a three-dimensional (3D) point cloud (400) representing objects inside the region of interest. The method includes determining a camera plane (310) based on the images. The method includes projecting the cloud points (402) onto the camera plane (310) and determining a coupler location based on the projected cloud points (402) onto the camera plane (310). The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system (110) causing the tow vehicle to autonomously drive in a rearward direction along the path.