arXiv research

Improved Kalman filter for Stiefel manifold measurements.

The extended Kalman filter is perhaps the most standard tool to estimate in real time the state of a dynamical system from noisy measurements of some function of the system, with extensive practical applications (such as position tracking via GPS). While the plain Kalman filter for linear systems is well-understood, th…

Paper proves convergence of Kalman filter on Stiefel manifolds with measurement errors.

Many nonlinear extensions of the Kalman filter, e.g., the extended and the unscented Kalman filter, reduce the state densities to Gaussian densities. This approximation gives sufficient results in many cases. However, this filters only estimate states that are correlated with the observation. Therefore, sequential esti…

We investigate the convergence and stability properties of the decoupled extended Kalman filter learning algorithm (DEKF) within the long-short term memory network (LSTM) based online learning framework. For this purpose, we model DEKF as a perturbed extended Kalman filter and derive sufficient conditions for its stabi…

We cast Amari's natural gradient in statistical learning as a specific case of Kalman filtering. Namely, applying an extended Kalman filter to estimate a fixed unknown parameter of a probabilistic model from a series of observations, is rigorously equivalent to estimating this parameter via an online stochastic natural…

Develops inverse extended Kalman filter for predicting adversarial steps.

Graph Kalman filters adapt classical filters to graph data.

The Kalman filter (KF) is used in a variety of applications for computing the posterior distribution of latent states in a state space model. The model requires a linear relationship between states and observations. Extensions to the Kalman filter have been proposed that incorporate linear approximations to nonlinear m…

In this paper, we revisit the Kalman filter theory. After giving the intuition on a simplified financial markets example, we revisit the maths underlying it. We then show that Kalman filter can be presented in a very different fashion using graphical models. This enables us to establish the connection between Kalman fi…

Motivated by the need for accurate frequency information, a novel algorithm for estimating the fundamental frequency and its rate of change in three-phase power systems is developed. This is achieved through two stages of Kalman filtering. In the first stage a quaternion extended Kalman filter, which provides a unified…

Robust Kalman filtering method for outlier detection.

Improved stock volume prediction using Kalman Filters with various hidden states.

Develops inverse EKF for non-linear systems with stability guarantees and learning unknown dynamics.

Extended Kalman Filtering (EKF) can be used to propagate and quantify input uncertainty through a Deep Neural Network (DNN) assuming mild hypotheses on the input distribution. This methodology yields results comparable to existing methods of uncertainty propagation for DNNs while lowering the computational overhead con…

Motivated by the needs of online large-scale recommender systems, we specialize the decoupled extended Kalman filter (DEKF) to factorization models, including factorization machines, matrix and tensor factorization, and illustrate the effectiveness of the approach through numerical experiments on synthetic and on real-…

Enhances linear regression with Kalman filter for loss minimization.

We introduce Kalman Gradient Descent, a stochastic optimization algorithm that uses Kalman filtering to adaptively reduce gradient variance in stochastic gradient descent by filtering the gradient estimates. We present both a theoretical analysis of convergence in a non-convex setting and experimental results which dem…

HKF uses neural networks to adapt Kalman filters for dynamic channel tracking.

Convolutional Bayesian filtering generalizes state estimation by incorporating inequality conditions.

New method differentiates square-root Kalman filters robustly.

Neural EKF improves structural dynamics prediction.

Extends nonlinear filtering to predictable jump times.

Efficiently learns neural network parameters from streaming data.

Illustrates interleaved learning with Kalman Filter for linear least squares.

Recursive KalmanNet combines neural networks with Kalman filters for precise state estimation.

Transformers can approximate Kalman Filtering in linear systems with small error.

The Kalman filter is extensively used for state estimation for linear systems under Gaussian noise. When non-Gaussian Lévy noise is present, the conventional Kalman filter may fail to be effective due to the fact that the non-Gaussian Lévy noise may have infinite variance. A modified Kalman filter for linear systems wi…

This paper proves long-time accuracy of ensemble Kalman filters for chaotic and machine-learned systems.

Kalman filtering and smoothing algorithms are used in many areas, including tracking and navigation, medical applications, and financial trend filtering. One of the basic assumptions required to apply the Kalman smoothing framework is that error covariance matrices are known and given. In this paper, we study a general…

Improved Kalman filter for non-linear, non-Gaussian data.

Paper introduces EnDKF for more accurate pose tracking.

In this paper, we propose a probabilistic optimization method, named probabilistic incremental proximal gradient (PIPG) method, by developing a probabilistic interpretation of the incremental proximal gradient algorithm. We explicitly model the update rules of the incremental proximal gradient method and develop a syst…

The parameters of temporal models, such as dynamic Bayesian networks, may be modelled in a Bayesian context as static or atemporal variables that influence transition probabilities at every time step. Particle filters fail for models that include such variables, while methods that use Gibbs sampling of parameter variab…

A Kalman filter reduces valuation risk in business valuation models.

Study uses Kalman-Filter to assess market efficiency in major stock markets.

In this work we study the non-parametric reconstruction of spatio-temporal dynamical Gaussian processes (GPs) via GP regression from sparse and noisy data. GPs have been mainly applied to spatial regression where they represent one of the most powerful estimation approaches also thanks to their universal representing p…

Paper presents a robust Kalman filter for state estimation.

New filters improve radar target inference in complex scenarios.

Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by using fat-tailed sensor models, which account for the possibility of outliers. Unfortunately, all estimation algorithms belonging to the family of Gaussian filters…

The Kalman filter and Heston model are used to estimate asset prices and trading performance.

Proposes CE-BASS for robust Kalman filtering with innovative and additive outliers.

Paper proposes an EKF for estimating time-varying market efficiency.

In this manuscript we introduce numerical Gaussian process Kalman filtering (GPKF). Numerical Gaussian processes have recently been developed to simulate spatiotemporal models. The contribution of this paper is to embed numerical Gaussian processes into the recursive Kalman filter equations. This embedding enables us t…

Real-world measurement noise in applications like robotics is often correlated in time, but we typically assume i.i.d. Gaussian noise for filtering. We propose general Gaussian Processes as a non-parametric model for correlated measurement noise that is flexible enough to accurately reflect correlation in time, yet sim…

Proposes a new method for nonlinear Bayesian updates using ensemble kernel regression.

We consider the nonlinear Kalman filtering problem using Kullback-Leibler (KL) and $α$-divergence measures as optimization criteria. Unlike linear Kalman filters, nonlinear Kalman filters do not have closed form Gaussian posteriors because of a lack of conjugacy due to the nonlinearity in the likelihood. In this paper …

AD-EnKFs use machine learning to improve data assimilation in high-dimensional systems.