1. A method for estimating a vehicle pose based on object scan data, said method comprising: obtaining scan data for objects in proximity to a host vehicle; providing host vehicle motion data from a vehicle dynamics system onboard the host vehicle; identifying point objects and extended objects in the scan data, where the point objects have a length and a width less than a predetermined threshold and the extended objects have a length or a width equaling or exceeding the threshold; computing, using a microprocessor, a first estimate of the vehicle pose based on the host vehicle motion data and the point objects identified in the scan data; computing, using the microprocessor, a second estimate of the vehicle pose based on the first estimate of the vehicle pose and the extended objects identified in the scan data; and determining an overall estimate of the vehicle pose based on the first estimate of the vehicle pose and the second estimate of the vehicle pose.