1. A method for state estimation of a surface of a platform at sea, comprising: receiving, with a processor, sensor signals indicative of LIDAR data for the platform; applying, with the processor, a Bayesian filter to the LIDAR data for a plurality of hypotheses; determining, with the processor, vertical planes representing azimuth and elevation angles for the LIDAR data; applying, with the processor, a robust linear estimation algorithm to the vertical planes; and determining, with the processor, candidate points in response to the applying of the robust linear estimation algorithm.