Coupler and tow-bar detection for automated trailer hitching via cloud points

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 single 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 three-dimensional (3D) point cloud representing objects inside the region of interest in the images only provided by the single rear camera;
• determining, by the data processing hardware, a camera plane where the single rear camera moves based on the received images only provided by the single rear camera without images from another camera;
• projecting, by the data processing hardware, cloud points of the 3D point cloud which represent the objects inside the region of interest that are not located in the camera plane, onto the camera plane;
• determining, by the data processing hardware, a coupler location based on the projected cloud points onto the camera plane;
• determining, by the data processing hardware, a path based on the coupler location, the path ending when the tow vehicle is attached to the trailer;
• and
• sending, from the data processing hardware to a drive system of the tow vehicle, instructions for autonomously driving the tow vehicle in a rearward direction along the path.