Unscented Kalman Filtering

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Overview

Unscented Kalman filters use carefully chosen sigma points to approximate how state estimates and their uncertainty evolve through nonlinear dynamics and measurements, often serving as an alternative to the Extended Kalman Filter. Current applications include robot and vehicle navigation, visual-inertial sensor fusion, spacecraft estimation, quadrotor wind tracking, and object tracking. Common extensions adapt noise levels or sigma-point weights, use Lie-group representations for rotations and poses, or add learned corrections while retaining the filter’s recursive structure. A central challenge is improving robustness to changing dynamics, missing or unreliable sensors, and non-Gaussian noise without sacrificing computational efficiency or well-calibrated uncertainty.

Latest papers

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15 papers0 papers in the last four weeks, with none the four weeks before. 0.0% of all new papers.

  1. 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

  2. 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

  3. 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

  4. SUMO: Segment and Track Any Motion with Nonlinear State Space Models

    Jun 29, 2026Kexin Tian, Sixu Li, Keshu Wu +2Video Object SegmentationVisual Object Tracking

    Texas A&M University

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

    Jun 8, 2026Mohamed Khalifa, Hashim A. HashimKalman FilteringInertial Odometry

    Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, K1S-5B6, Canada

  6. Uncertainty-Aware Adaptive Sensor Fusion for Autonomous Navigation

    Jun 3, 2026Simegnew Yihunie Alaba, Yuichi MotaiUnscented Kalman FilteringVisual-Inertial Odometry

    Department of Electrical and Computer Engineering, College of Engineering, Virginia Commonwealth University, Richmond, VA 23220, USA

  7. Fixed-Time Dynamic Landing of Quadrotors using Adaptive Unscented Kalman Filtering and Nonlinear Model Predictive Control

    Jun 1, 2026Mohammadreza Izadi, Zeinab Shayan, Steven Waslander +1Kalman FilteringNonlinear MPC

    Autonomous Vehicles Laboratory, Department of Aerospace Engineering, Toronto Metropolitan University, Toronto, Canada · University of Toronto Institute for Aerospace Studies, University of Toronto, Toronto, Canada

  8. FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2

    May 24, 2026Manan KharwarKalman FilteringUnscented Kalman Filtering

    Independent Researcher, Hamilton, ON, Canada

  9. Weighted Flow Matching and Physics-Informed Nonlinear Filtering for Parameter Estimation in Digital Twins

    May 16, 2026Yasar Yanik, Himadri Basu, Ricardo G. Sanfelice +1Flow MatchingKalman Filtering

    Department of Applied Mathematics, University of California, Santa Cruz, CA 95064, USA · Department of Electrical and Computer Engineering, University of California, Santa Cruz, CA 95064, USA

  10. Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions

    May 3, 2026Nicholas B. Andrews, Kristi A. MorgansenDynamical SystemsKalman Filtering

    Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195 USA

  11. Communication Outage-Resistant UUV State Estimation: A Variational History Distillation Approach

    Mar 31, 2026Shuyue Li, Miguel López-Benítez, Eng Gee Lim +5Robot State EstimationRobust Estimation

    School of Advanced Technology, Xi’an Jiaotong-Liverpool University, Suzhou, China · School of Engineering, University of Liverpool, Liverpool, UK · Jiangsu JITRI Tsingunited Intelligent Control Technology Co., Ltd., Wuxi, China +4

  12. Online Inertia Tensor Identification for Non-Cooperative Spacecraft via Augmented UKF

    Mar 28, 2026Batu Candan, Simone ServadioSpacecraft Pose EstimationUnscented Kalman Filtering

    Iowa State University, Ames, Iowa, USA, 50011.

  13. 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.

  14. A Hybrid Neural-Assisted Unscented Kalman Filter for Unmanned Ground Vehicle Navigation

    Mar 12, 2026Gal Versano, Itzik KleinRobot NavigationUnscented Kalman Filtering

    Autonomous Navigation and Sensor Fusion Lab, Hatter Department of Marine Technologies, Charney School of Marine Sciences, University of Haifa, Israel.

  15. Robust Unscented Kalman Filtering via Recurrent Meta-Adaptation of Sigma-Point Weights

    Mar 4, 2026Kenan Majewski, Michał Modzelewski, Marcin Żugaj +1Unscented Kalman FilteringRobust Estimation

    Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland