{"id":"https://openalex.org/W4383109010","doi":"https://doi.org/10.1109/icra48891.2023.10160945","title":"Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation","display_name":"Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109010","doi":"https://doi.org/10.1109/icra48891.2023.10160945"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160945","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049148311","display_name":"Yutaka Shimizu","orcid":"https://orcid.org/0000-0002-9749-7281"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yutaka Shimizu","raw_affiliation_strings":["TIER IV, Inc.,Shinagawa-ku, Tokyo,Japan,140-0001"],"affiliations":[{"raw_affiliation_string":"TIER IV, Inc.,Shinagawa-ku, Tokyo,Japan,140-0001","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039991188","display_name":"Ashkan Jasour","orcid":"https://orcid.org/0000-0002-4530-8311"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashkan Jasour","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,01239","NASA Jet Propulsion Lab, California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"NASA Jet Propulsion Lab, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101496340","display_name":"Shinpei Kato","orcid":"https://orcid.org/0000-0003-1782-5319"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinpei Kato","raw_affiliation_strings":["TIER IV, Inc.,Shinagawa-ku, Tokyo,Japan,140-0001","Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"TIER IV, Inc.,Shinagawa-ku, Tokyo,Japan,140-0001","institution_ids":[]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049148311"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1751,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53700448,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"3948","last_page":"3954"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9746999740600586,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.972000002861023,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7353004217147827},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.655555248260498},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6268398761749268},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.6203464865684509},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.6139280200004578},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.5025711059570312},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.4877184331417084},{"id":"https://openalex.org/keywords/nonlinear-filter","display_name":"Nonlinear filter","score":0.4629756808280945},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42790114879608154},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.42527931928634644},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.41614770889282227},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.41060903668403625},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4099763333797455},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4002687335014343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.376249760389328},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16797557473182678},{"id":"https://openalex.org/keywords/filter-design","display_name":"Filter design","score":0.14466610550880432},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07993343472480774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06009972095489502}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7353004217147827},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.655555248260498},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6268398761749268},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.6203464865684509},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.6139280200004578},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.5025711059570312},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.4877184331417084},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.4629756808280945},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42790114879608154},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.42527931928634644},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.41614770889282227},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.41060903668403625},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4099763333797455},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4002687335014343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.376249760389328},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16797557473182678},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.14466610550880432},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07993343472480774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06009972095489502},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160945","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7985365998","display_name":null,"funder_award_id":"2118818","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W615510159","https://openalex.org/W1481215529","https://openalex.org/W1483307070","https://openalex.org/W1513008779","https://openalex.org/W1562736402","https://openalex.org/W1749494163","https://openalex.org/W1943808550","https://openalex.org/W1970324678","https://openalex.org/W1981983914","https://openalex.org/W2002201291","https://openalex.org/W2020934227","https://openalex.org/W2053044028","https://openalex.org/W2055875617","https://openalex.org/W2083402998","https://openalex.org/W2105934661","https://openalex.org/W2107802551","https://openalex.org/W2123487311","https://openalex.org/W2126423185","https://openalex.org/W2136517446","https://openalex.org/W2336416123","https://openalex.org/W2708033136","https://openalex.org/W2785781023","https://openalex.org/W2790374560","https://openalex.org/W3000625188","https://openalex.org/W3012829077","https://openalex.org/W3038423780","https://openalex.org/W3045040561","https://openalex.org/W3096217641","https://openalex.org/W3193974773","https://openalex.org/W3201000232","https://openalex.org/W3216537071","https://openalex.org/W4221140104","https://openalex.org/W4221156184","https://openalex.org/W4287364947","https://openalex.org/W4297900511","https://openalex.org/W4315471909","https://openalex.org/W6663457208","https://openalex.org/W6800015469","https://openalex.org/W6810464697"],"related_works":["https://openalex.org/W3036780875","https://openalex.org/W2150837402","https://openalex.org/W4206024512","https://openalex.org/W2145874287","https://openalex.org/W2363917672","https://openalex.org/W3147354701","https://openalex.org/W4221126147","https://openalex.org/W2375707005","https://openalex.org/W2536041363","https://openalex.org/W2359813627"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,50],"new":[4],"nonlinear":[5,44],"filter,":[6],"called":[7],"Moment-based":[8],"Kalman":[9,119],"Filter":[10],"(MKF),":[11],"using":[12],"the":[13,54,109,115,132],"exact":[14,71,86],"moment":[15,35,66],"propagation":[16,36,67],"method.":[17],"Existing":[18],"state":[19,57,90],"estimation":[20,58],"methods":[21],"use":[22],"linearization":[23],"techniques":[24],"or":[25,117],"sampling":[26],"points":[27],"to":[28,93,137],"compute":[29,70],"approximate":[30],"values":[31],"of":[32,37,40,56,88],"moments.":[33],"However,":[34],"probability":[38],"distributions":[39],"random":[41,80],"variables":[42,91],"through":[43],"process":[45],"and":[46,59,100,123,139,141],"measurement":[47],"models":[48],"play":[49],"key":[51],"role":[52],"in":[53,135,145],"development":[55],"directly":[60],"affects":[61],"their":[62],"performance.":[63],"The":[64,125],"proposed":[65],"procedure":[68],"can":[69,84],"moments":[72,87],"for":[73],"non-Gaussian":[74,146],"as":[75,77,114],"well":[76],"non-independent":[78],"Gaussian":[79],"variables.":[81],"Thus,":[82],"MKF":[83,97,107,130],"propagate":[85],"uncertain":[89],"up":[92],"any":[94],"desired":[95],"order.":[96],"is":[98,131],"derivative-free":[99],"does":[101],"not":[102],"require":[103],"tuning":[104],"parameters.":[105],"Moreover,":[106],"has":[108],"same":[110],"computation":[111],"time":[112],"complexity":[113],"extended":[116],"unscented":[118],"filters,":[120],"i.e.,":[121],"EKF":[122,138],"UKF.":[124],"experimental":[126],"evaluations":[127],"show":[128],"that":[129],"preferred":[133],"filter":[134],"comparison":[136],"UKF":[140],"outperforms":[142],"both":[143],"filters":[144],"noise":[147],"regimes.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
