Real-Time Trailer Coupler Localization and Tracking

A method for detecting and localizing a trailer coupler of a trailer is provided. The method includes receiving images from a camera positioned on a back portion of a tow vehicle and determining a region of interest within the images. The region of interest includes a representation of the trailer coupler. The method includes determining a camera plane and a road plane. In addition, the method includes determining a three-dimensional point cloud representing objects inside the region of interest and within the camera plane and the road plane. The method also includes receiving sensor data from a sensor system and determining a coupler location of the trailer coupler based on the 3D point cloud and the sensor data. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive along a path in a rearward direction towards the coupler location.