{"id":"https://openalex.org/W2163700209","doi":"https://doi.org/10.1109/icra.2011.5979684","title":"Initialization of the Kalman filter without assumptions on the initial state","display_name":"Initialization of the Kalman filter without assumptions on the initial state","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2163700209","doi":"https://doi.org/10.1109/icra.2011.5979684","mag":"2163700209"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/2158501","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000293541","display_name":"Magnus Linderoth","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Magnus Linderoth","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087697079","display_name":"Kristian Soltesz","orcid":"https://orcid.org/0000-0001-6378-7646"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kristian Soltesz","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084540714","display_name":"Rolf Johansson","orcid":"https://orcid.org/0000-0002-0786-8561"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rolf Johansson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000293541"],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":0.8805,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8157354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4992","last_page":"4997"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8826479911804199},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8576065301895142},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6023619771003723},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5913326740264893},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.5865251421928406},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5819728374481201},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.5746996998786926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5634579658508301},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.5511283278465271},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.544823169708252},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.530899167060852},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5288136005401611},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.51720130443573},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.43961790204048157},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4257810413837433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3417648673057556},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33742034435272217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30077505111694336},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.24929463863372803}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8826479911804199},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8576065301895142},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6023619771003723},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5913326740264893},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.5865251421928406},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5819728374481201},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.5746996998786926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634579658508301},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.5511283278465271},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.544823169708252},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.530899167060852},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5288136005401611},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.51720130443573},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.43961790204048157},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4257810413837433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3417648673057556},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33742034435272217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30077505111694336},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.24929463863372803},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.963.9560","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.963.9560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.control.lth.se/documents/2011/ICRA2011c.pdf","raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:9a1691f6-4d24-47aa-b164-dea10ac6d8fe","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/2158501","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:9a1691f6-4d24-47aa-b164-dea10ac6d8fe","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/2158501","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W72861286","https://openalex.org/W1511332864","https://openalex.org/W1530841184","https://openalex.org/W1832905514","https://openalex.org/W1977464512","https://openalex.org/W1984190176","https://openalex.org/W1990012555","https://openalex.org/W1991413486","https://openalex.org/W2032801422","https://openalex.org/W2034043440","https://openalex.org/W2048424346","https://openalex.org/W2080828514","https://openalex.org/W2104277144","https://openalex.org/W2105934661","https://openalex.org/W2117494482","https://openalex.org/W2148228392","https://openalex.org/W2154319942","https://openalex.org/W2173782939","https://openalex.org/W2383311761","https://openalex.org/W4248700314","https://openalex.org/W4253000514","https://openalex.org/W6602962720","https://openalex.org/W6636726260","https://openalex.org/W6648427307"],"related_works":["https://openalex.org/W2742858738","https://openalex.org/W4206024512","https://openalex.org/W2380516352","https://openalex.org/W1506303183","https://openalex.org/W2182059946","https://openalex.org/W2034932758","https://openalex.org/W2150837402","https://openalex.org/W2164174227","https://openalex.org/W2152504883","https://openalex.org/W2363340733"],"abstract_inverted_index":{"In":[0],"absence":[1],"of":[2,18,35,85],"covariance":[3],"data,":[4],"Kalman":[5,77],"filters":[6],"are":[7,49],"usually":[8],"initialized":[9],"by":[10],"guessing":[11],"the":[12,16,19,27,33,36,52,76,83,86],"initial":[13,20,37,87],"state.":[14],"Making":[15],"variance":[17],"state":[21,88],"estimate":[22,28,57],"large":[23],"makes":[24],"sure":[25],"that":[26,32],"converges":[29],"quickly":[30],"and":[31,55,89],"influence":[34],"guess":[38],"soon":[39,61],"will":[40],"be":[41,67],"negligible.":[42],"If,":[43],"however,":[44],"only":[45],"very":[46],"few":[47],"measurements":[48],"available":[50],"during":[51],"estimation":[53],"process":[54],"an":[56],"is":[58],"wanted":[59],"as":[60,62],"possible,":[63],"this":[64],"might":[65],"not":[66],"enough.":[68],"This":[69],"paper":[70],"presents":[71],"a":[72],"method":[73],"to":[74],"initialize":[75],"filter":[78],"without":[79,90],"any":[80,92],"knowledge":[81],"about":[82],"distribution":[84],"making":[91],"guesses.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}