mlsanityData to 14 Oct 2026

Incorporating Transformer and LSTM to Kalman Filter with EM algorithm for state estimation

arXiv 2105.00250 ↗First posted 1 May 2021cs.LGcited by 5

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Abstract (arXiv)

Kalman Filter requires the true parameters of the model and solves optimal state estimation recursively. Expectation Maximization (EM) algorithm is applicable for estimating the parameters of the model that are not available before Kalman filtering, which is EM-KF algorithm. To improve the preciseness of EM-KF algorithm, the author presents a state estimation method by combining the Long-Short Term Memory network (LSTM), Transformer and EM-KF algorithm in the framework of Encoder-Decoder in Sequence to Sequence (seq2seq). Simulation on a linear mobile robot model demonstrates that the new method is more accurate. Source code of this paper is available at https://github.com/zshicode/Deep-Learning-Based-State-Estimation.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 14 of its 42 references that are in the map. First posted on arXiv 1 May 2021.

Builds on

14 of 42 references.

References · 14

  1. 2017Attention Is All You Needcited by 60,361
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  3. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,399
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  9. 2018Combining Recurrent Neural Networks and Adversarial Training for Human Motion Synthesis and Controlcited by 39
  10. 2018Deep learning algorithm for data-driven simulation of noisy dynamical systemcited by 12
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  12. 2019Financial series prediction using Attention LSTMcited by 7
2 more
  1. 2018LSTM-Based Zero-Velocity Detection for Robust Inertial Navigationcited by 5
  2. 2018A Comparison of LSTMs and Attention Mechanisms for Forecasting Financial Time Seriescited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 1; 2022: 2; 2023: 0; 2024: 0; 2025: 1; 2026: 1.

5 papers.

  1. 2022Attention-based CNN-LSTM and XGBoost hybrid model for stock predictioncited by 3
  2. 2021Bidirectional LSTM-CRF Attention-based Model for Chinese Word Segmentationcited by 2
  3. 2026ChronosAD: Leveraging Time Series Foundation Models for Accurate Anomaly Detectioncited by 2
  4. 2022Differential equation and probability inspired graph neural networks for latent variable learningcited by 1
  5. 2025DIMM: Decoupled Multi-hierarchy Kalman Filter for 3D Object Trackingcited by 0