Kalman Filtering

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Overview

Kalman filtering studies how to track a system’s changing, hidden state from noisy observations, using uncertainty to decide how much to trust each prediction and measurement. Linear Kalman filters and nonlinear variants such as the extended, unscented, and error-state filters are widely used in robot navigation, visual-inertial odometry, multi-object tracking, and data assimilation; evaluations often use settings such as KITTI, EuRoC, and nuScenes. Current approaches adapt noise covariances, handle delayed or distributed measurements, or combine recursive filters with neural networks and generative methods to cope with nonlinear dynamics and imperfect sensors. A central challenge is improving accuracy under model mismatch without sacrificing calibrated uncertainty, consistency, interpretability, or real-time efficiency.

Latest papers

CardsList

73 papers5 papers in the last four weeks, down 37% on the four weeks before. 0.0% of all new papers.

  1. ToF-Wheel Odometry: Navigating Degeneration of Localization With Limited Sensing Capabilities

    Oct 10, 2026Xu Yang, Wenhao Li, Zhengyu Wei +3Robot State EstimationRobot Localization

    Deptrum Ltd.

  2. Monocular Navigation Relative to Unknown Spacecraft Using a Transformer-Aided Kalman Filter

    Oct 5, 2026Pol Francesch Huc, Simone D'AmicoKalman FilteringRelative Pose Estimation

    Department of Aeronautics and Astronautics Stanford University Stanford, CA 94305

  3. Voltic: Distinguishing Volatility from Stochasticity in Recurrent Memory

    Oct 5, 2026Parsa Hejabi, Morteza Dehghani, Payam PirayKalman FilteringBayesian Filtering

    University of Southern California

  4. Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation

    Sep 30, 2026Michal Pliska, Matouš Vrba, Ondřej Víta +3Aerial RoboticsKalman Filtering

    Multi-robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

  5. LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

    Sep 30, 2026Qizhi Guo, Junning Lyu, Defu Lin +1Kalman FilteringVisual-Inertial Odometry

    School of Aerospace Engineering and the Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China

  6. 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.

  7. Repairability of Inexact Solvers in Recursive State Estimation with Machine Learning

    Sep 23, 2026Yanjun Ji, Dennis Willsch, Orkun Şensebat +8Kalman FilteringHybrid Quantum-Classical ML

    Jülich Supercomputing Centre, Forschungszentrum Jülich, 52425 Jülich, Germany · FH Aachen University of Applied Sciences, 52066 Aachen, Germany · Institute for Automation of Complex Power Systems, RWTH Aachen University, Aachen, Germany +5

  8. Compressed delayed-information projection for six-degree-of-freedom underwater vehicle navigation under delayed acoustic positioning

    Sep 23, 2026Shuyue Li, Miguel López-Benítez, Eng Gee Lim +5Error-State Kalman FilteringAutonomous Underwater Navigation

    Academy of Artificial Intelligence and Advanced Technology, Xi’an Jiaotong-Liverpool University, No. 111, Ren’ai Road, Suzhou Industrial Park, Suzhou, Jiangsu Province 215123, China · Department of Electrical Engineering and Electronics, School of Engineering, University of Liverpool, Brownlow Hill, Liverpool L69 3GJ, United Kingdom · Jiangsu JITRI Tsingunited Intelligent Control Technology Co., Ltd., D1 Building, No. 999 Gaolang East Road, Wuxi, Jiangsu Province, China +4

  9. CDKF-Track: Cluster-aware Data-Driven Kalman Filtering for Cooperative 3D Multi-Object Tracking

    Sep 22, 2026Maria Damanaki, Nikos Piperigkos, Alexandros Gkillas +1Kalman FilteringCooperative Perception

    Industrial Systems Institute, Athena Research Center, Patras Science Park, Greece · 3Dpt. of Informatics & Telecom., University of Ioannina, Arta, Greece · Avisense.AI, Patras, Greece +1

  10. Quantization-Aware Kalman Estimation for Diffusion Sampling

    Sep 18, 2026Qitan Shi, Cheng Jin, Jiawei Zhang +1Diffusion Model QuantizationDiffusion Sampling

    Tsinghua University

  11. 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

  12. Causal neural set filtering for online multi-target tracking

    Sep 13, 2026Zhongdi Liu, Huangyu DaiMulti-Object TrackingBayesian Filtering

    Hangzhou Applied Acoustics Research Institute, Hangzhou 310023, China · Independent Researcher, Hangzhou, China

  13. Residual Kalman Dynamics for Event-Based UAV Forecasting

    Sep 1, 2026Per Nyblom, Hannes Ovrén, David GustafssonEvent-Based VisionKalman Filtering

    Swedish Defence Research Agency (FOI), Linköping, Sweden

  14. Spectral Pre-Filtering for Context-Adaptive Sensor Fusion: A Four-Role FFT-GDCB Integration for High-Stakes Decision Systems

    Aug 22, 2026Oleg MiroshnichenkoKalman FilteringCovariance Estimation

  15. The Setting of IMU Parameters in Kalman Filtering-based Information Fusion

    Aug 17, 2026Qiang Hu, Yanhua Zou, Shuaiyi Huo +2Parameter EstimationKalman Filtering

    Tongji University, Shanghai, China, 200092

  16. 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

  17. KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots

    Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Kalman FilteringInertial Odometry

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150006, China

  18. Unscented KalmanNet: Structure-Preserving Deep Learning with Calibrated Posterior Uncertainty under Incomplete Physics and Unknown Noise

    Aug 4, 2026Minhyeok Ko, Abdollah ShafieezadehKalman FilteringUnscented Kalman Filtering

    Department of Civil and Construction Engineering and Management, The University of Texas at Tyler, Tyler, TX, 75799, USA · Department of Civil, Environmental, and Geodetic Engineering, The Ohio State University, Columbus, OH, 43210, USA

  19. Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation

    Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Legged RoboticsKalman Filtering

  20. Edge-Aware Thermal Infrared UAV Swarm Tracking

    Jul 14, 2026Yu-Hsi ChenThermal ImagingKalman Filtering

    The University of Melbourne Parkville, Australia

  21. 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

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

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1Kalman FilteringPhysics-Informed ML

    AImotion Bavaria, Technische Hochschule Ingolstadt, Germany · Technische Universität München, Germany

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

    Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman FilteringError-State Kalman Filtering

    Airbus Central Research and Technology, Taufkirchen, Germany

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

    Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman FilteringError-State Kalman Filtering

    Airbus Central Research and Technology, Taufkirchen, Germany · Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway

  25. Image-Domain Tilt Constrained Distributed Fusion for Maneuvering UAV Tracking with Multi-Camera Electro-Optical Observations

    Jul 1, 2026Minxing Sun, Yao MaoKalman FilteringTrajectory Prediction

    Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China · Institute for Infocomm Research (I2R), Agency for Science, Technology and Research, Singapore · Shenzhen Astralldynamics Technology

  26. Information-Aided DVL Calibration

    Jun 30, 2026Zeev Yampolsky, Itzik KleinKalman FilteringGNSS-Denied Localization

    The Hatter Department of Marine Technologies Charney School of Marine Sciences, University of Haifa, Haifa, Israel

  27. 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

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

    Jun 29, 2026Hiranya Udagedara, Mahdis BishebanKalman FilteringUnscented Kalman Filtering

    Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Canada

  29. Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems

    Jun 29, 2026Yueteng Yang, Yusen Xie, Hao Wei +5Kalman FilteringError-State Kalman Filtering

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Differential Robotics, Hangzhou 311100, China · Zhejiang University, Hangzhou 310027, China +1

  30. 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