mherb/kalman

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1502 stars · 415 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A header-only C++11 library implementing Kalman filter variants (EKF, SR-EKF, UKF, SR-UKF) built on the Eigen3 linear algebra library. Users define state, control, system, and measurement models as C++ types to perform state estimation.

Use cases

• estimate robot state from noisy sensor measurements
• implement an extended Kalman filter in C++
• fuse sensor data with an unscented Kalman filter
• add state estimation to an embedded C++ project
• implement square-root Kalman filters for numerical stability
• track object positions with sensor fusion

When to choose

• you need Kalman filtering in a C++11 or later project
• you want a header-only dependency with no build step
• you need EKF or UKF variants including square-root forms
• you already use Eigen3 for linear algebra

When to avoid

• you work in Python or another language
• you need particle filters or other Bayesian estimators
• you want a batteries-included robotics framework with sensor drivers
• you need GPU-accelerated filtering for very large state vectors

Facets

library · maturity stable

math simulation robotics developer-tools cpp cross-platform kalman-filter state-estimation ekf ukf header-only eigen3 sensor-fusion algorithms

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