Various technologies described herein pertain to a radar sensor system that performs ego motion estimation. A radar sensor system can be utilized to generate an instantaneous three-dimensional ego motion estimate of a vehicle. The radar sensor system employs an algorithm that enables generating ego motion estimates for velocities of the vehicle that can be greater than, less then, or equal to the unambiguous maximum velocity of the radar sensor system. Moreover, a single radar sensor system of a vehicle can implement the approaches set forth herein and the techniques can be applicable regardless of modulation of the radar sensor system.