diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index b27723829d..f9ba581bbd 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -127,16 +127,6 @@ Vectord<5> DifferentialDrivePoseEstimator::F(const Vectord<5>& x,
          Vectord<5>{u(0, 0), u(1, 0), u(2, 0), u(0, 0), u(1, 0)};
 }
 
-template <int Dim>
-wpi::array<double, Dim> DifferentialDrivePoseEstimator::StdDevMatrixToArray(
-    const Vectord<Dim>& stdDevs) {
-  wpi::array<double, Dim> array;
-  for (size_t i = 0; i < Dim; ++i) {
-    array[i] = stdDevs(i);
-  }
-  return array;
-}
-
 Vectord<5> DifferentialDrivePoseEstimator::FillStateVector(
     const Pose2d& pose, units::meter_t leftDistance,
     units::meter_t rightDistance) {
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index afe6bed98f..3654c3edc3 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -233,10 +233,6 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator {
   Rotation2d m_gyroOffset;
   Rotation2d m_previousAngle;
 
-  template <int Dim>
-  static wpi::array<double, Dim> StdDevMatrixToArray(
-      const Vectord<Dim>& stdDevs);
-
   static Vectord<5> F(const Vectord<5>& x, const Vectord<3>& u);
   static Vectord<5> FillStateVector(const Pose2d& pose,
                                     units::meter_t leftDistance,
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index eb8219cfd1..24a79cfa1a 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -222,16 +222,6 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
 
   Rotation2d m_gyroOffset;
   Rotation2d m_previousAngle;
-
-  template <int Dim>
-  static wpi::array<double, Dim> StdDevMatrixToArray(
-      const Vectord<Dim>& vector) {
-    wpi::array<double, Dim> array;
-    for (size_t i = 0; i < Dim; ++i) {
-      array[i] = vector(i);
-    }
-    return array;
-  }
 };
 
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index ce40e3208c..531ad94de9 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -304,16 +304,6 @@ class SwerveDrivePoseEstimator {
 
   Rotation2d m_gyroOffset;
   Rotation2d m_previousAngle;
-
-  template <int Dim>
-  static wpi::array<double, Dim> StdDevMatrixToArray(
-      const Vectord<Dim>& vector) {
-    wpi::array<double, Dim> array;
-    for (size_t i = 0; i < Dim; ++i) {
-      array[i] = vector(i);
-    }
-    return array;
-  }
 };
 
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)