Kalman Filtering

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5 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

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Latest papers 48

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Monocular Navigation Relative to Unknown Spacecraft Using a Transformer-Aided Kalman Filter
Oct 5, 2026Pol Francesch Huc, Simone D'AmicoKalman Filtering Relative Pose Estimation
Department of Aeronautics and Astronautics Stanford University Stanford, CA 94305
Voltic: Distinguishing Volatility from Stochasticity in Recurrent Memory
Oct 5, 2026Parsa Hejabi, Morteza Dehghani, Payam PirayKalman Filtering Bayesian Filtering
University of Southern California
Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation
Sep 30, 2026Michal Pliska, Matouš Vrba, Ondřej Víta +3Aerial Robotics Kalman Filtering
Multi-robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic
LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision
Sep 30, 2026Qizhi Guo, Junning Lyu, Defu Lin +1Kalman Filtering Visual-Inertial Odometry
School of Aerospace Engineering and the Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China
Repairability of Inexact Solvers in Recursive State Estimation with Machine Learning
Sep 23, 2026Yanjun Ji, Dennis Willsch, Orkun Şensebat +8Kalman Filtering Hybrid 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
CDKF-Track: Cluster-aware Data-Driven Kalman Filtering for Cooperative 3D Multi-Object Tracking
Sep 22, 2026Maria Damanaki, Nikos Piperigkos, Alexandros Gkillas +1Kalman Filtering Cooperative 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
Belief-Adaptive Online Autonomy for Quadrotor UAV Navigation under GNSS Degradation in Urban Environments
Sep 13, 2026Deepak Kumar Panda, Weisi GuoKalman Filtering UAV Navigation
Centre for Connected and Assured Autonomy, Cranfield University, Bedford MK43 0AL
Residual Kalman Dynamics for Event-Based UAV Forecasting
Sep 1, 2026Per Nyblom, Hannes Ovrén, David GustafssonEvent-Based Vision Kalman Filtering
Swedish Defence Research Agency (FOI), Linköping, Sweden
WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization
Aug 10, 2026Minhyuk Jang, Astghik Hakobyan, Jungjin Lee +2Kalman Filtering Robot 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
KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots
Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Kalman Filtering Inertial Odometry
Unscented KalmanNet: Structure-Preserving Deep Learning with Calibrated Posterior Uncertainty under Incomplete Physics and Unknown Noise
Aug 4, 2026Minhyeok Ko, Abdollah ShafieezadehKalman Filtering Unscented 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
Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Legged Robotics Kalman Filtering
Edge-Aware Thermal Infrared UAV Swarm Tracking
Jul 14, 2026Yu-Hsi ChenThermal Imaging Kalman Filtering
The University of Melbourne Parkville, Australia
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Jul 12, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Kalman Filtering Underwater 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
Physics-Regularized Machine Learning for Proprioceptive Vehicle Localization Using Onboard Sensors
Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1Kalman Filtering Physics-Informed ML
AImotion Bavaria, Technische Hochschule Ingolstadt, Germany · Technische Universität München, Germany
Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation
Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman Filtering Inertial Navigation
Airbus Central Research and Technology, Taufkirchen, Germany
Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems
Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman Filtering Lie Group Methods
Airbus Central Research and Technology, Taufkirchen, Germany · Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway
Image-Domain Tilt Constrained Distributed Fusion for Maneuvering UAV Tracking with Multi-Camera Electro-Optical Observations
Jul 1, 2026Minxing Sun, Yao MaoKalman Filtering Trajectory 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
Information-Aided DVL Calibration
Jun 30, 2026Zeev Yampolsky, Itzik KleinKalman Filtering GNSS-Denied Localization
The Hatter Department of Marine Technologies Charney School of Marine Sciences, University of Haifa, Haifa, Israel
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 Robotics Kalman Filtering
Dept. of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Alberta, Canada
Realtime Wind Estimation using Low Cost Quadrotor Uncrewed Aerial Vehicles
Jun 29, 2026Hiranya Udagedara, Mahdis BishebanKalman Filtering Unscented Kalman Filtering
Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Canada
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 Filtering Visual-Inertial Odometry
The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Differential Robotics, Hangzhou 311100, China · Zhejiang University, Hangzhou 310027, China +1
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 Mapping Kalman 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
Learning to Distributedly Estimate under Partially Known Dynamics: A Covariance-Agnostic Neural Kalman Consensus Filter
Jun 26, 2026George Stamatelis, Kyriakos Stylianopoulos, George C. AlexandropoulosKalman Filtering
Department of Informatics and Telecommunications, National and Kapodistrian University of Athens, Panepistimiopolis Ilissia, 16122 Athens, Greece
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 Filtering Edge Computing
1Jadavpur University, West Bengal, India · 2Purdue University, IN, USA · 3Intel Corporation, CA, USA
Structured Noise Adaptation for Sequential Bayesian Filtering with Embedded Latent Transfer Operators
Jun 12, 2026Naichang Ke, Pongpisit Thanasutives, Yoshinobu KawaharaKalman Filtering Bayesian Filtering
The University of Osaka · RIKEN Center for Advanced Intelligence Project (AIP)
Two-Layer Linear Auto-Regressive Models Estimate Latent States
Jun 10, 2026Yahya Sattar, Sunmook Choi, Leo Maynard-Zhang +3Dynamical Systems Kalman Filtering
Cornell · U Washington · Imperial College London +1
Feature-preserving Latent-EnKF for Data Assimilation of Flows with Shocks
Jun 10, 2026Hemanth Chandravamsi, Hangchuan Hu, Ponkrshnan Thiagarajan +1Kalman Filtering Data Assimilation
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
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 Filtering Embodied 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
Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments
Jun 8, 2026Mohamed Khalifa, Hashim A. HashimKalman Filtering Inertial Odometry
Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, K1S-5B6, Canada

Oct 5, 2026, cs.ROJ/K move · Enter open · S save

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

Pol Francesch Huc, Simone D'Amico

Department of Aeronautics and Astronautics Stanford University Stanford, CA 94305

Kalman Filtering Relative Pose Estimation Spacecraft Rendezvous and Proximity Operations Visual Odometry Spacecraft Pose Estimation

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This work presents a novel learning-based pipeline for pose estimation of unknown spacecraft using only monocular images from a single servicer. The approach combines a transformer-based neural network with a Multi-State Constraint Kalman Filter (MSCKF) to estimate the pose (i.e., position and orientation of the target spacecraft relative to the camera) throughout rendezvous and proximity operations. Unlike existing vision-based methods that require prior knowledge of the target shape or inertia properties, rely on additional sensing modalities such as depth, lidar, or stereo, or only recover translation up to scale, the proposed pipeline generalizes to previously unseen spacecraft using a single monocular camera. The transformer network estimates the odometry, the change in pose between images up to scale, from SuperPoint features matched by LightGlue. The MSCKF uses these pseudo-measurements along with an orbit and attitude kinematics model to estimate the pose of the target. In particular, the relative orbit elements, the target's attitude with respect to the servicer's camera, and the associated angular velocity are estimated directly by the filter. Given the monocular approach and short distance to the target, the full observability of the range to the target is recovered via attitude maneuvers by the servicer. The method is trained and evaluated on a re-rendered high-resolution version of the SPE3R dataset, which includes synthetic images of 103 spacecraft. Eleven of these spacecraft are held out during training to evaluate the generalization to unseen targets. Monte Carlo simulations are then used to evaluate the navigation pipeline on rendered trajectories of the held out spacecraft. The results demonstrate that learned vision pipelines as a front-end for Kalman filters provide median errors of 3.7° in attitude and 2.2% of range in ROE when navigating about unknown targets.

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