Extended Kalman Filter

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Period ending 2026-09-21

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Period ending 2026-09-14

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Period ending 2026-09-07

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  1. PLED-VINS: A Point-Line Event-Based Visual Inertial SLAM for Dynamic Environments

    Jul 8, 2026Seunghun Lee, Jihun Nam, Dong-Uk Seo +1Orb-Slam2State Estimation

  2. Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control

    Jul 7, 2026Fan Zhang, Richie Suganda, Jinfeng Chen +4Lyapunov FunctionState Estimation

  3. Physics-Regularized Machine Learning for Proprioceptive Vehicle Localization Using Onboard Sensors

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1Robust LocalizationExtended Kalman Filter

  4. SpecGradFilter: A Spectral Gradient Filtering Framework for Taming Federated Heterogeneity

    Jul 5, 2026Liyang Yuan, Yibo Yang, Dandan Guo +2Federated LearningHeterogeneity

  5. Finite Reliability Representations: Noise-Calibrated Belief-Space Covers for Reliable Decision-Making

    Jul 4, 2026Hyung-Jin Yoon, Hunmin KimBelief SpaceInitial Human Belief Distributions

  6. Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays

    Jul 4, 2026Jonathan Kelly, Phone Thiha Kyaw, Mattew GiamouInertial Navigation SystemsState Estimation

  7. PedestrianDiffusion: Multimodal Generative Denoising and Dense State Estimation for Inertial Navigation

    Jul 3, 2026I-Hao Lu, Dongsoo HanInertial Navigation SystemsInertial Measurement Units

  8. Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation

    Jul 3, 2026Antonia Hager, Torleiv H. BryneInertial Navigation SystemsExtended Kalman Filter

  9. Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems

    Jul 3, 2026Antonia Hager, Torleiv H. BryneInertial Navigation SystemsExtended Kalman Filter

  10. Technical Report: Asynchronous Distributed Trajectory Estimation of Multi-Robot Systems

    Jul 1, 2026Adam Pooley, Matthew HaleMulti-Robot SystemsState Estimation

  11. Generative Model Proposal based Particle Filtering for Data Assimilation

    Jul 1, 2026Chandni Nagda, Mayank Shrivastava, Gudrun Thorkelsdottir +3Data AssimilationParticle Filters

  12. SFDATrack: Generalized Source-Free Domain Adaptive Tracking Under Adverse Weather Conditions

    Jul 1, 2026Siyuan Yao, Ziqi Wang, Ruiqi Yu +3Domain AdaptationMulti-Object Tracking

  13. Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation

    Jun 30, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio MeggiolaroInertial Navigation SystemsExtended Kalman Filter

  14. A Bayesian Filtering Approach for Learning Lagrangian Dynamics from Noisy Measurements

    Jun 30, 2026Kundan Kumar, Shreya Das, Simo SärkkäParticle FiltersLagrangian Methods

  15. Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models

    Jun 29, 2026Hiranya Udagedara, Adam Bigsby, Mahdis BishebanUrban WindQuadrotor Control

  16. Realtime Wind Estimation using Low Cost Quadrotor Uncrewed Aerial Vehicles

    Jun 29, 2026Hiranya Udagedara, Mahdis BishebanUrban WindExtended Kalman Filter

  17. Cross-Spectral Stereo Inertial Odometry

    Jun 29, 2026Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3Stereo MatchingVisual Odometry

  18. Diagnosing and Mitigating Context Rot in Long-horizon Search

    Jun 29, 2026Shijie Xia, Yikun Wang, Zhen Huang +1Efficient Long-Context InferenceLong-Horizon Tasks

  19. Robust Extended Kalman Filter for Land Navigation Using Massive Array of MEMS IMUs

    Jun 28, 2026Omer Hanani, Alon KipnisInertial Navigation SystemsExtended Kalman Filter

  20. Physics-Informed Neural Network with Transfer Learning for State Estimation in Lithium-Ion Batteries using the Single Particle Model with Electrolyte

    Jun 26, 2026Gift Modekwe, Qiugang LuLithium-Ion BatteriesConventional Physics-Informed Neural Networks

  21. Improvement of Robot's Simultaneous Localization and Mapping Using an Effective Transformation to Achieve Linear Model

    Jun 26, 2026Seyed Farzad Bahreinian, Maziar Palhang, Mohammad Reza Taban +1Simultaneous Localization And MappingExtended Kalman Filter

  22. Learning to Distributedly Estimate under Partially Known Dynamics: A Covariance-Agnostic Neural Kalman Consensus Filter

    Jun 26, 2026George Stamatelis, Kyriakos Stylianopoulos, George C. AlexandropoulosExtended Kalman FilterParticle Filters

  23. Kalman Prototypical Networks for Few-shot Fault Detection in Combined Cycle Gas Turbines

    Jun 25, 2026Mohammed Ayalew Belay, Lucas Ferreira Bernardino, Adil Rasheed +2Gas Turbine CombustorFault Diagnosis

  24. Learning Probabilistic Filters with Strictly Proper Scoring Rules

    Jun 25, 2026Eviatar Bach, Ricardo Baptista, Jochen Bröcker +2Particle FiltersData Assimilation

  25. 1000 Rallies: An Event-Camera Dataset and Real-Time Learned Ball-State Estimation for Robotic Table Tennis

    Jun 24, 2026Raphaela Kreiser, Asude Aydin, Yin Bi +3Table Tennis RobotRobotic Perception

  26. Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems

    Jun 23, 2026Sven Goffin, Cédric Schwartz, Silvère Bonnabel +2Extended Kalman FilterCategory-Level Object Pose Estimation

  27. A Novel Approach to Temporal QoS Estimation via Extended Kalman Filter-Incorporated Latent Feature Analysis

    Jun 22, 2026Ye Yuan, Song Wang, Hongxun Zhou +2Extended Kalman FilterNon-Stationarity

  28. Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators

    Jun 21, 2026S. Yaqubi, J. MattilaExtended Kalman FilterState Estimation

  29. Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision

    Jun 19, 2026Abhijeet M. Kulkarni, Yuze Du, Guoquan HuangOdometryProprioception

  30. Discrete Geometric Modeling and Extended State Estimation of Continuum Robots

    Jun 19, 2026Maximilian Herrmann, Leander Pfeiffer, Paul KotyczkaState EstimationSoft Robots

  31. ΩΩ: Operator-based Mixture Ensemble for Generative Assimilation

    Jun 18, 2026Pouria Behnoudfar, Nan ChenData AssimilationExtended Kalman Filter

  32. Eigenspace-Based Clustering for Personalized System Identification

    Jun 18, 2026Abdulmoneam Ali, Dipankar Maity, Ahmed ArafaSystem IdentificationImage Clustering

  33. ARC: Adaptive Robust Joint State and Covariance Estimation

    Jun 18, 2026Alexandre Hadji-Thomas, Andrew Stirling, James R. ForbesState EstimationCovariance Estimation

  34. Motor Angular Speed Preintegration for Multirotor UAV State Estimation

    Jun 18, 2026Matěj Petrlík, Filip Novák, Robert Pěnička +1Inertial OdometryState Estimation

  35. Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments

    Jun 18, 2026Jingzhi Cui, Chao Zhang, Yuliang Mao +4Global Navigation Satellite SystemState Estimation

  36. Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground

    Jun 17, 2026Falak Mandali, Zijian He, Yan GuExtended Kalman FilterProprioception

  37. Constant Time-Delay Leader Following with Neural Networks and Invariant Extended Kalman Filters for Arbitrary Trajectories

    Jun 17, 2026Luka Antonyshyn, Paulo Ricardo Marques de Araujo, Sidney GivigiTrajectory PredictionExtended Kalman Filter

  38. FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry

    Jun 17, 2026Zhiyu Chen, Chunran Zheng, Jiayu Wen +4Robust Lidar-Inertial OdometryOdometry

  39. Hardware- and Vision-in-the-Loop Validation of Deep Monocular Pose Estimation for Autonomous Maritime UAV Flight

    Jun 17, 2026Maneesha Wickramasuriya, Beomyeol Yu, Jaden Shin +3Vision SensorsExtended Kalman Filter

  40. Filtered Conformal Ellipsoids for Graph-Native Time Series

    Jun 15, 2026Yannick LimmerConformal PredictionParticle Filters

  41. Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning

    Jun 15, 2026Anke Zhao, Yuhang Zhong, Kenghou Hoi +5Quadrotor ControlIterative Reinforcement Learning

  42. Anisotropic Template Ansätze for Robust Positive Invariance under State-Dependent Uncertainty

    Jun 14, 2026Abdelrahman Ramadan, Melissa Greeff, Sidney GivigiQuadrotor FlightState Estimation

  43. A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation

    Jun 14, 2026Eric Levy, Soosan BeheshtiExtended Kalman FilterTrajectory Optimization

  44. Seam-to-Graph Reconstruction for Garment Configuration Alignment

    Jun 13, 2026Xuzhao Huang, Kai Tang, Fuyuki Tokuda +2FabricGarments

  45. KATANA: A Fast, Low-Power Mapping of Kalman Filters onto Edge NPUs for Real-Time Tracking

    Jun 12, 2026Bodhisatwa Kundu, Anish Rooj, Sumit Saha +4Extended Kalman FilterNeural Processing Units

  46. Structured Noise Adaptation for Sequential Bayesian Filtering with Embedded Latent Transfer Operators

    Jun 12, 2026Naichang Ke, Pongpisit Thanasutives, Yoshinobu KawaharaParticle FiltersState Estimation

  47. GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens

    Jun 12, 2026Young-Rang Seo, Hajun Kim, Sangmin Kim +2ProprioceptionLegged Robots

  48. Once-for-All: Scalable Simultaneous Forecasting via Equilibrium State Estimation

    Jun 11, 2026Beinan Xu, Andy Song, Jiti Gao +1Llm-Based Forecasting MethodsLoad Forecasting

  49. Two-Layer Linear Auto-Regressive Models Estimate Latent States

    Jun 10, 2026Yahya Sattar, Sunmook Choi, Leo Maynard-Zhang +3Autoregressive ModelExtended Kalman Filter

  50. Feature-preserving Latent-EnKF for Data Assimilation of Flows with Shocks

    Jun 10, 2026Hemanth Chandravamsi, Hangchuan Hu, Ponkrshnan Thiagarajan +1Data AssimilationMulti-Material Shock Physics

  51. SG2Loc: Sequential Visual Localization on 3D Scene Graphs

    Jun 10, 2026Nicole Damblon, Olga Vysotska, Federico Tombari +2Sequential Visual Localization3D Scene Graphs

  52. Deep Learning-Based Lunar Crater Terrain Relative Navigation

    Jun 10, 2026Batu Candan, Simone ServadioLunar SurfaceSpacecraft

  53. Data assimilation for subsurface flow using latent diffusion model parameterization: performance of ensemble-Kalman and Monte Carlo techniques

    Jun 9, 2026Guido Di Federico, Wenchao Teng, Louis J. DurlofskyData AssimilationSub-Surface Mineral Prospectivity Modelling

  54. Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection

    Jun 9, 2026Batu Candan, Mohammed Atallah, Simone Servadio +1Extended Kalman FilterAutonomous Navigation

  55. Nonlinear Bayesian Estimator for Parameter Learning: A Fixed-Point Characterization

    Jun 8, 2026Sasan Vakili, Daniël Woonings, Pradyumna Paruchuri +1EstimatorsState Estimation

  56. Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments

    Jun 8, 2026Mohamed Khalifa, Hashim A. HashimVisual-Inertial SystemsExtended Kalman Filter

  57. Physically Consistent Null Space Alignment for Detection of Low-Magnitude False Data Injection Attacks

    Jun 7, 2026Xin Li, Chenhan Xiao, Jonathan Cohen +3Fault Injection ExperimentsState Estimation

  58. Uncertainty-Aware Adaptive Sensor Fusion for Autonomous Navigation

    Jun 3, 2026Simegnew Yihunie Alaba, Yuichi MotaiMulti-Sensor FusionAutonomous Navigation

  59. Cooperative Circumnavigation for Multiple Unmanned Surface Vehicles Without External Localization

    Jun 3, 2026Xueming Liu, Lin Li, Xiang Zhou +2Multi-Uav SystemsRobust Formation Control

  60. Multi-Robot Bearing-only Pose Estimation via Angle Rigidity

    Jun 2, 2026J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1Multi-Robot SystemsState Estimation