PNaFF: A modular software platform for testing hybrid position estimation algorithms. - Matti Raitoharju; Niilo Sirola; Simo Ali-Löytty; Robert Piché (WPNC, 2008)

An Adaptive Derivative Free Method for Bayesian Posterior Approximation. - Matti Raitoharju; Simo Ali-Löytty (IEEE Signal Process. Lett., 2012)

A linear state model for PDR+WLAN positioning. - Matti Raitoharju; Henri Nurminen; Robert Piché (DASIP, 2013)

A field test of parametric WLAN-fingerprint-positioning methods. - Philipp Müller 003; Matti Raitoharju; Robert Piché (FUSION, 2014)

Linear Models and Approximations in Personal Positioning. - Matti Raitoharju (2014)

A Survey of Code Optimization Methods for Kalman Filter Extensions. - Matti Raitoharju; Robert Piché (CoRR, 2015)

Binomial Gaussian mixture filter. - Matti Raitoharju; Simo Ali-Löytty; Robert Piché (EURASIP J. Adv. Signal Process., 2015)

Kalman filter with a linear state model for PDR+WLAN positioning and its application to assisting a particle filter. - Matti Raitoharju; Henri Nurminen; Robert Piché (EURASIP J. Adv. Signal Process., 2015)

An efficient indoor positioning particle filter using a floor-plan based proposal distribution. - Henri Nurminen; Matti Raitoharju; Robert Piché (FUSION, 2016)

A systematic approach for Kalman-type filtering with non-Gaussian noises. - Matti Raitoharju; Robert Piché; Henri Nurminen (FUSION, 2016)

A statistical model of tristimulus measurements within and between OLED displays. - Matti Raitoharju; Samu Kallio; Matti Pellikka (EUSIPCO, 2017)

Kullback-Leibler divergence approach to partitioned update Kalman filter. - Matti Raitoharju; Ángel F. García-Fernández; Robert Piché (Signal Process., 2017)

Kalman-Type Filters and Smoothers for Pedestrian Dead Reckoning. - Pavel Ivanov; Matti Raitoharju; Robert Piché (IPIN, 2018)

Damped Posterior Linearization Filter. - Matti Raitoharju; Lennart Svensson; Ángel F. García-Fernández; Robert Piché (IEEE Signal Process. Lett., 2018)

Partitioned Update Binomial Gaussian Mixture Filter. - Matti Raitoharju; Ángel F. García-Fernández; Simo Särkkä (FUSION, 2019)

Gaussian mixture models for signal mapping and positioning. - Matti Raitoharju; Ángel F. García-Fernández; Roland Hostettler; Robert Piché; Simo Särkkä (Signal Process., 2020)

Algorithm for Direction Finding Using Spinning and Omnidirectional Antennas that Uses All Available Information. - Matti Raitoharju (ICL-GNSS (Work in Progress), 2021)

Kalman filtering with empirical noise models. - Matti Raitoharju; Henri Nurminen; Demet Cilden-Guler; Simo Särkkä (ICL-GNSS, 2021)

Posterior linearisation filter for non-linear state transformation noises. - Matti Raitoharju; Roland Hostettler; Simo Särkkä (FUSION, 2022)

Stacked iterated posterior linearization filter. - Matti Raitoharju; Ángel F. García-Fernández; Simo Ali-Löytty; Simo Särkkä (FUSION, 2024)