Patent Document ID: 20140334685
Application ID: 13889855
Patent Status: 0

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.