A system for determining a motion of an object with a known original orientation at a first time (T 1), the system comprising: a laser system configured to generate at least a range measurement and a velocity measurement for each of a plurality of points on the object; and an analyzing module configured to: determine, from the range and velocity measurements of the plurality of points on the object, a rotation of the object between the first time (T 1) and a second time (T 2), determine, from the range and velocity measurements of the plurality of points on the object, a distance moved by the object between the first time and the second time, determine, from the range measurements, a plurality of slope pairs at each of the first time and the second time, each of the plurality of slope pairs corresponding to a respective point of the plurality of points on the object at each of the first time and the second time, generate, from the plurality of slope pairs at the first time and the second time, the known original orientation of the object, and the determined rotation of the object, positions of the plurality of points on the object at the first time and the second time, and from the positions of the plurality of points on the object at the first time and/or the second time and the rotation of the object between the first time and the second time, determine a distance moved by the object between the first time and the second time in a direction orthogonal to a laser beam emitted by the laser system. a laser system configured to generate at least a range measurement and a velocity measurement for each of a plurality of points on the object; and an analyzing module configured to: determine, from the range and velocity measurements of the plurality of points on the object, a rotation of the object between the first time (T 1) and a second time (T 2), determine, from the range and velocity measurements of the plurality of points on the object, a distance moved by the object between the first time and the second time, determine, from the range measurements, a plurality of slope pairs at each of the first time and the second time, each of the plurality of slope pairs corresponding to a respective point of the plurality of points on the object at each of the first time and the second time, generate, from the plurality of slope pairs at the first time and the second time, the known original orientation of the object, and the determined rotation of the object, positions of the plurality of points on the object at the first time and the second time, and from the positions of the plurality of points on the object at the first time and/or the second time and the rotation of the object between the first time and the second time, determine a distance moved by the object between the first time and the second time in a direction orthogonal to a laser beam emitted by the laser system. determine, from the range and velocity measurements of the plurality of points on the object, a rotation of the object between the first time (T 1) and a second time (T 2), determine, from the range and velocity measurements of the plurality of points on the object, a distance moved by the object between the first time and the second time, determine, from the range measurements, a plurality of slope pairs at each of the first time and the second time, each of the plurality of slope pairs corresponding to a respective point of the plurality of points on the object at each of the first time and the second time, generate, from the plurality of slope pairs at the first time and the second time, the known original orientation of the object, and the determined rotation of the object, positions of the plurality of points on the object at the first time and the second time, and from the positions of the plurality of points on the object at the first time and/or the second time and the rotation of the object between the first time and the second time, determine a distance moved by the object between the first time and the second time in a direction orthogonal to a laser beam emitted by the laser system.