Patent Document ID: 9355462
Application ID: 13889855
Patent Status: 1

Claim One:
1. A computer-implemented method of estimating motion of a machine, comprising: determining, by one or more computer processors, a first point cloud and a second point cloud corresponding to an environment in a vicinity of the machine; generating, by the one or more computer processors, a first extended gaussian image (EGI) for the first point cloud and a second EGI for the second point cloud; determining, by the one or more computer processors, a first EGI segment based on the first EGI and a second EGI segment based on the second EGI; determining, by the one or more computer processors, a first two dimensional distribution for points in the first EGI segment and a second two dimensional distribution for points in the second EGI segment; and estimating, by the one or more computer processors, motion of the machine based on the first and second two dimensional distributions; wherein the first EGI segment and the second EGI segment is a subset of points in the first EGI and the second EGI obtained by filtering the points in the first EGI and the second EGI using a predefined criterion; wherein the filtering includes: defining a first threshold value and a second threshold value for a first coordinate axis, the first threshold value greater than the second threshold value; and filtering out points in the first and second EGI whose coordinate value for the first coordinate axis is greater than the first threshold value and less than the second threshold value.