Kalmannet: Data-Driven Kalman Filtering

Guy Revach, Nir Shlezinger, Ruud J.G.Van Sloun, Yonina C. Eldar

Research output: Contribution to journalConference articlepeer-review

25 Scopus citations


The Kalman filter (KF) is a celebrated signal processing algorithm, implementing optimal state estimation of dynamical systems that are well represented by a linear Gaussian statespace model. The KF is model-based, and therefore relies on full and accurate knowledge of the underlying model. We present KalmanNet, a hybrid data-driven/model-based filter that does not require full knowledge of the underlying model parameters. KalmanNet is inspired by the classical KF flow and implemented by integrating a dedicated and compact neural network for the Kalman gain computation. We present an offline training method, and numerically illustrate that KalmanNet can achieve optimal performance without full knowledge of the model parameters. We demonstrate that when facing inaccurate parameters KalmanNet learns to achieve notably improved performance compared to KF.

Original languageEnglish
Pages (from-to)3905-3909
Number of pages5
JournalProceedings - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing
StatePublished - 1 Jan 2021
Event2021 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2021 - Virtual, Toronto, Canada
Duration: 6 Jun 202111 Jun 2021


  • Deep learning
  • Kalman filter
  • Modelbased

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering


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