Method for deriving position during navigation

A method comprising:

• accessing a first image generated by a first electromagnetic sensor arranged on a vehicle, the first image comprising a first set of points:
• representing positions of a first set of surfaces in a first field of view of the first electromagnetic sensor during a first scan cycle;
• and
• annotated with radial velocities of the first set of surfaces relative to the first electromagnetic sensor;
• detecting a first constellation of points, in the first set of points in the first image, representing a first static surface in the first set of surfaces;
• calculating a first linear velocity of the vehicle relative to the first static surface during the first scan cycle based on radial velocities of the first constellation of points;
• accessing a first angular velocity of the vehicle during the first scan cycle detected by a motion sensor arranged on the vehicle;
• and
• calculating a first change in position of the vehicle during the first scan cycle based on:
• the first linear velocity;
• the first angular velocity;
• and
• a first duration of the first scan cycle.

A method comprising:

• accessing an image generated by an electromagnetic sensor arranged on an object, the image comprising a set of points:
• representing positions of a set of surfaces in a field of view of the electromagnetic sensor during a scan cycle;
• and
• annotated with radial velocities of the set of surfaces relative to the electromagnetic sensor;
• detecting a constellation of points, in the set of points in the image, representing a static surface in the set of surfaces;
• calculating a linear velocity of the object relative to the static surface during the scan cycle based on radial velocities of the constellation of points;
• accessing an angular velocity of the object during the scan cycle;
• and
• calculating a change in position of the object during the scan cycle based on:
• the linear velocity;
• the angular velocity;
• and
• a duration of the scan cycle.