Extended Kalman Filtering

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Overview

Extended Kalman filtering (EKF) extends recursive Kalman estimation to nonlinear systems by linearizing their dynamics and measurements around the current state estimate. It is widely used in navigation, robotics, tracking, and online monitoring, including IMU–GNSS and LiDAR–inertial fusion. Common approaches include error-state and manifold-aware filters, adaptive covariance scheduling, robust or constrained updates, and learned models that augment or correct the filter; evaluations often use localization, tracking, and dead-reckoning sequences under noise, sensor outages, or changing conditions. A central challenge is balancing computationally efficient updates against linearization error and miscalibrated uncertainty, which can cause drift or divergence and motivates methods that improve robustness without sacrificing consistency.

Latest papers

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27 papers3 papers in the last four weeks, level with the four weeks before. 0.0% of all new papers.

  1. Deep Bayesian Approaches for Interpretable Nonlinear Structural System Identification

    Oct 27, 2026Wei Liu, Konstantinos Vlachas, Eleni ChatziSystem IdentificationNonlinear System Identification

    National University of Singapore Singapore · ETH Zurich Zurich, Switzerland

  2. Calibration-free IMU-based Relative Orientation Estimation under Dynamic Human Motion

    Oct 22, 2026Ruiyuan Li, Hassan Osman, Ajay Seth +1Relative Pose EstimationExtended Kalman Filtering

    Delft Center for Systems and Control, Delft University of Technology, 2628 CD Delft, the Netherlands · Department of Biomechanical Engineering, Delft University of Technology, 2628 CD Delft, the Netherlands

  3. Tilt-Rotor Quadcopter with Learned Residual Control and Mode-Dependent State Estimation

    Oct 22, 2026Ninad Joshi, Prabhat KumarQuadrotor ControlFeedback Control

    Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Hyderabad, India

  4. Consensus-Based Distributed Filtering for Angles-Only Tracking in Cislunar Space

    Oct 22, 2026Giovanni Romagnoli, Fabrizio Pilone, Giordana BucchioniState TrackingDistributed Inference

    Department of Information Engineering, University of Pisa, Pisa 56122, Italy

  5. Schur-Neural KF: Learned Schur-Consistent Corrections to the Extended Kalman Filter

    Sep 26, 2026Min Kim, Lianghao Cao, Soon-Jo Chung +1Kalman FilteringExtended Kalman Filtering

    The authors are with the California Institute of Technology (Caltech), Pasadena, CA 91125 USA.

  6. Belief-Adaptive Online Autonomy for Quadrotor UAV Navigation under GNSS Degradation in Urban Environments

    Sep 13, 2026Deepak Kumar Panda, Weisi GuoKalman FilteringUAV Navigation

    Centre for Connected and Assured Autonomy, Cranfield University, Bedford MK43 0AL

  7. The Iterative Equivariant Filter

    Sep 11, 2026Pieter van Goor, James Richard ForbesEquivariant FilteringRobot State Estimation

    School of Aerospace, Mechanical, and Mechatronic Engineering The University of Sydney NSW 2006, Australia · Dept. of Mechanical Engineering McGill University Montreal, QC, Canada

  8. Multi-Observer Vehicle Localization Case Study with Roadside Radar and Connected Vehicle Sensing

    Aug 17, 2026Aleksi Pippuri, Nilusha Jayawickrama, Risto OjalaRadar-LiDAR FusionMultimodal Sensor Fusion

    Department of Mechanical Engineering, Aalto University, Espoo, Finland

  9. WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization

    Aug 10, 2026Minhyuk Jang, Astghik Hakobyan, Jungjin Lee +2Kalman FilteringRobot Localization

    Department of Mechanical Science and Engineering, Grainger College of Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA · Center for Scientific Innovation and Education and the National Polytechnic University of Armenia, Yerevan, Armenia · Department of Electrical and Computer Engineering and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea

  10. WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

    Jul 15, 2026Junning Lyu, Qizhi Guo, Xia Ning +2Inertial OdometryLiDAR Odometry

    School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

  11. Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling

    Jul 12, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Kalman FilteringUnderwater Robotics

    University of Illinois Urbana-Champaign, Department of Electrical and Computer Engineering · Dept. of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, 306 N. Wright St., Urbana, IL 61801 USA · University of Illinois Urbana-Champaign, Department of Industrial and Enterprise Systems Engineering +3

  12. 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 BishebanAerial RoboticsKalman Filtering

    Dept. of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Alberta, Canada

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

    Jun 28, 2026Omer Hanani, Alon KipnisGNSS-Denied LocalizationInertial Navigation

    School of Computer Science, Reichman University, Herzliya 46150

  14. 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 MappingKalman Filtering

    Subsea Science and Technology Research Institute, Isfahan University of Technology, Isfahan, Iran · Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran

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

    Jun 19, 2026Maximilian Herrmann, Leander Pfeiffer, Paul KotyczkaContinuum Robot ControlRobot State Estimation

    Technical University of Munich, TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Automatic Control.

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

    Jun 12, 2026Bodhisatwa Kundu, Anish Rooj, Sumit Saha +4Kalman FilteringEdge Computing

    1Jadavpur University, West Bengal, India · 2Purdue University, IN, USA · 3Intel Corporation, CA, USA

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

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

    Batu Candan, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Mohammed Atallah, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Dr. Simone Servadio, Assistant Professor, Iowa State University, Ames, IA 50011, USA +1

  18. FW-NKF: Frequency-Weighted Neural Kalman Filters

    Jun 1, 2026Adnan Harun Dogan, Berken Utku Demirel, Christian HolzKalman FilteringRobot State Estimation

    Department of Computer Science, ETH Zürich, Switzerland

  19. The Dynamic-Probabilistic Consistency Gap in Chaotic Surrogate Modeling

    May 29, 2026Andre Herz, Matthijs Pals, Daniel Durstewitz +1Dynamical SystemsSurrogate Modeling

    1Interdisciplinary Center for Scientific Computing, Heidelberg University, Germany · Faculty of Mathematics and Computer Science, Heidelberg University, Germany · 3Dept. of Theoretical Neuroscience, Central Institute of Mental Health (CIMH), Mannheim, Germany +3

  20. PiGGO: Physics-Guided Learnable Graph Kalman Filters for Virtual Sensing of Nonlinear Dynamic Structures under Uncertainty

    Apr 29, 2026Marcus Haywood-Alexander, Gregory Duthé, Eleni ChatziPhysics-Informed MLVirtual Sensing

    aDepartment of Civil, Environmental and Geomatic Engineering, ETH Zürich, Wolfgang-Pauli Strasse 5, 8049, Zürich, Switzerland · bFuture Resilient Systems, Singapore-ETH Centre, Singapore, Singapore

  21. Onboard Wind Estimation for Small UAVs Equipped with Low-Cost Sensors: An Aerodynamic Model-Integrated Filtering Approach

    Apr 22, 2026Bingchen Cheng, Tielin Ma, Jingcheng Fu +2UAV NavigationExtended Kalman Filtering

    Shenyuan Honors College, Beihang University, Beijing, 100191, China · Institute of Unmanned System, Beihang University, Beijing 100191 · School of Aeronautical Science and Engineering, Beihang University, Beijing 100191, China

  22. ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry

    Apr 3, 2026Seongjun Kim, Daehan Lee, Junwoo Hong +3LiDAR OdometryAdaptive Lidar-Inertial Odometry

    S. Kim is with the Department of Electrical Engineering, POSTECH, Pohang 37673, Republic of Korea · D. Lee, J. Hong, S. Park, and H. Jo are with the Department of Convergence IT Engineering, POSTECH, Pohang 37673, Republic of Korea · S. Han is with the Department of Electrical Engineering and Convergence IT Engineering, POSTECH, Pohang 37673, Republic of Korea

  23. Design Guidelines for Nonlinear Kalman Filters via Covariance Compensation

    Mar 24, 2026Shida Jiang, Jaewoong Lee, Shengyu Tao +1Kalman FilteringExtended Kalman Filtering

    Department of Civil and Environmental Engineering, University of California, Berkeley, CA 94720, USA.

  24. Lightweight 3D LiDAR-Based UAV Tracking: An Adaptive Extended Kalman Filtering Approach

    Mar 10, 2026Nivand Khosravi, Meysam Basiri, Rodrigo VenturaRelative Pose EstimationAerial Robotics

    Institute for Systems and Robotics (ISR), Instituto Superior Técnico, Lisbon, Portugal

  25. Airborne Magnetic Anomaly Navigation with Neural-Network-Augmented Online Calibration

    Mar 9, 2026Antonia Hager, Sven Nebendahl, Alexej Klushyn +3Online CalibrationGNSS-Denied Localization

    Airbus, 82024 Taufkirchen, Germany. · Norwegian University of Science and Technology, 7034 Trondheim, Norway.

  26. KD-EKF: Knowledge-Distilled Adaptive Covariance EKF for Robust UWB/PDR Indoor Localization

    Mar 6, 2026Kyeonghyun Yoo, Wooyong Jung, Namkyung Yoon +3Wireless LocalizationRobot Localization

  27. Dual-Branch INS/GNSS Fusion with Inequality and Equality Constraints

    Feb 24, 2026Mor Levenhar, Itzik KleinInertial NavigationGNSS-Denied Localization

    I. Klein and M. Levenhar are with the Autonomous Navigation and Sensor Fusion Lab, Hatter Department of Marine Technologies, University of Haifa, Israel.