1. A method of estimating a position of a first machine, comprising: determining a first position estimate and a first uncertainty measure of the first machine; receiving, from a second machine, relative pose information determined by the second machine and a second uncertainty measure of the second machine; determining that the first uncertainty measure is higher than the second uncertainty measure; and in response to determining that the first uncertainty measure is higher than the second uncertainty measure, determining a second position estimate of the first machine based on the first position estimate and the relative pose information.