diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
index eabb67ee38..66873dec41 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
@@ -256,6 +256,36 @@ public class DifferentialDrivePoseEstimator {
         timestampSeconds);
   }
 
+  /**
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
+   *
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * DifferentialDrivePoseEstimator#update} every loop.
+   *
+   * <p>Note that the vision measurement standard deviations passed into this method will continue
+   * to apply to future measurements until a subsequent call to {@link
+   * DifferentialDrivePoseEstimator#setVisionMeasurementStdDevs(Matrix)} or this method.
+   *
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link
+   *     DifferentialDrivePoseEstimator#updateWithTime} then you must use a timestamp with an epoch
+   *     since FPGA startup (i.e. the epoch of this timestamp is the same epoch as
+   *     Timer.getFPGATimestamp.) This means that you should use Timer.getFPGATimestamp as your time
+   *     source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   */
+  public void addVisionMeasurement(
+      Pose2d visionRobotPoseMeters,
+      double timestampSeconds,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    setVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    addVisionMeasurement(visionRobotPoseMeters, timestampSeconds);
+  }
+
   /**
    * Updates the the Unscented Kalman Filter using only wheel encoder information. Note that this
    * should be called every loop.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
index 6ff5264449..afca17dae9 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
@@ -220,6 +220,35 @@ public class MecanumDrivePoseEstimator {
         timestampSeconds);
   }
 
+  /**
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
+   *
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * MecanumDrivePoseEstimator#update} every loop.
+   *
+   * <p>Note that the vision measurement standard deviations passed into this method will continue
+   * to apply to future measurements until a subsequent call to {@link
+   * MecanumDrivePoseEstimator#setVisionMeasurementStdDevs(Matrix)} or this method.
+   *
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link MecanumDrivePoseEstimator#updateWithTime}
+   *     then you must use a timestamp with an epoch since FPGA startup (i.e. the epoch of this
+   *     timestamp is the same epoch as Timer.getFPGATimestamp.) This means that you should use
+   *     Timer.getFPGATimestamp as your time source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   */
+  public void addVisionMeasurement(
+      Pose2d visionRobotPoseMeters,
+      double timestampSeconds,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    setVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    addVisionMeasurement(visionRobotPoseMeters, timestampSeconds);
+  }
+
   /**
    * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
    * called every loop, and the correct loop period must be passed into the constructor of this
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
index 34f7376ab6..958e8357e7 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
@@ -220,6 +220,35 @@ public class SwerveDrivePoseEstimator {
         timestampSeconds);
   }
 
+  /**
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
+   *
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * SwerveDrivePoseEstimator#update} every loop.
+   *
+   * <p>Note that the vision measurement standard deviations passed into this method will continue
+   * to apply to future measurements until a subsequent call to {@link
+   * SwerveDrivePoseEstimator#setVisionMeasurementStdDevs(Matrix)} or this method.
+   *
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link SwerveDrivePoseEstimator#updateWithTime}
+   *     then you must use a timestamp with an epoch since FPGA startup (i.e. the epoch of this
+   *     timestamp is the same epoch as Timer.getFPGATimestamp.) This means that you should use
+   *     Timer.getFPGATimestamp as your time source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   */
+  public void addVisionMeasurement(
+      Pose2d visionRobotPoseMeters,
+      double timestampSeconds,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    setVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    addVisionMeasurement(visionRobotPoseMeters, timestampSeconds);
+  }
+
   /**
    * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
    * called every loop, and the correct loop period must be passed into the constructor of this
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index 1d366a9a2a..9fea0b6a15 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -135,6 +135,44 @@ class DifferentialDrivePoseEstimator {
   void AddVisionMeasurement(const Pose2d& visionRobotPose,
                             units::second_t timestamp);
 
+  /**
+   * Adds a vision measurement to the Unscented Kalman Filter. This will correct
+   * the odometry pose estimate while still accounting for measurement noise.
+   *
+   * This method can be called as infrequently as you want, as long as you are
+   * calling Update() every loop.
+   *
+   * Note that the vision measurement standard deviations passed into this
+   * method will continue to apply to future measurements until a subsequent
+   * call to SetVisionMeasurementStdDevs() or this method.
+   *
+   * @param visionRobotPose          The pose of the robot as measured by the
+   *                                 vision camera.
+   * @param timestamp                The timestamp of the vision measurement in
+   *                                 seconds. Note that if you don't use your
+   *                                 own time source by calling
+   *                                 UpdateWithTime(), then you must use a
+   *                                 timestamp with an epoch since FPGA startup
+   *                                 (i.e. the epoch of this timestamp is the
+   *                                 same epoch as
+   *                                 frc2::Timer::GetFPGATimestamp(). This means
+   *                                 that you should use
+   *                                 frc2::Timer::GetFPGATimestamp() as your
+   *                                 time source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision
+   *                                 measurements. Increase these numbers to
+   *                                 trust global measurements from vision
+   *                                 less. This matrix is in the form
+   *                                 [x, y, theta]^T, with units in meters and
+   *                                 radians.
+   */
+  void AddVisionMeasurement(
+      const Pose2d& visionRobotPose, units::second_t timestamp,
+      const wpi::array<double, 3>& visionMeasurementStdDevs) {
+    SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    AddVisionMeasurement(visionRobotPose, timestamp);
+  }
+
   /**
    * Updates the Unscented Kalman Filter using only wheel encoder information.
    * Note that this should be called every loop iteration.
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index c7fb8590ba..8e43b01fde 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -135,6 +135,44 @@ class MecanumDrivePoseEstimator {
   void AddVisionMeasurement(const Pose2d& visionRobotPose,
                             units::second_t timestamp);
 
+  /**
+   * Adds a vision measurement to the Unscented Kalman Filter. This will correct
+   * the odometry pose estimate while still accounting for measurement noise.
+   *
+   * This method can be called as infrequently as you want, as long as you are
+   * calling Update() every loop.
+   *
+   * Note that the vision measurement standard deviations passed into this
+   * method will continue to apply to future measurements until a subsequent
+   * call to SetVisionMeasurementStdDevs() or this method.
+   *
+   * @param visionRobotPose          The pose of the robot as measured by the
+   *                                 vision camera.
+   * @param timestamp                The timestamp of the vision measurement in
+   *                                 seconds. Note that if you don't use your
+   *                                 own time source by calling
+   *                                 UpdateWithTime(), then you must use a
+   *                                 timestamp with an epoch since FPGA startup
+   *                                 (i.e. the epoch of this timestamp is the
+   *                                 same epoch as
+   *                                 frc2::Timer::GetFPGATimestamp(). This means
+   *                                 that you should use
+   *                                 frc2::Timer::GetFPGATimestamp() as your
+   *                                 time source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision
+   *                                 measurements. Increase these numbers to
+   *                                 trust global measurements from vision
+   *                                 less. This matrix is in the form
+   *                                 [x, y, theta]^T, with units in meters and
+   *                                 radians.
+   */
+  void AddVisionMeasurement(
+      const Pose2d& visionRobotPose, units::second_t timestamp,
+      const wpi::array<double, 3>& visionMeasurementStdDevs) {
+    SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    AddVisionMeasurement(visionRobotPose, timestamp);
+  }
+
   /**
    * Updates the the Unscented Kalman Filter using only wheel encoder
    * information. This should be called every loop, and the correct loop period
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 74e7747ccb..f751470c32 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -189,6 +189,44 @@ class SwerveDrivePoseEstimator {
         m_visionCorrect, timestamp);
   }
 
+  /**
+   * Adds a vision measurement to the Unscented Kalman Filter. This will correct
+   * the odometry pose estimate while still accounting for measurement noise.
+   *
+   * This method can be called as infrequently as you want, as long as you are
+   * calling Update() every loop.
+   *
+   * Note that the vision measurement standard deviations passed into this
+   * method will continue to apply to future measurements until a subsequent
+   * call to SetVisionMeasurementStdDevs() or this method.
+   *
+   * @param visionRobotPose          The pose of the robot as measured by the
+   *                                 vision camera.
+   * @param timestamp                The timestamp of the vision measurement in
+   *                                 seconds. Note that if you don't use your
+   *                                 own time source by calling
+   *                                 UpdateWithTime(), then you must use a
+   *                                 timestamp with an epoch since FPGA startup
+   *                                 (i.e. the epoch of this timestamp is the
+   *                                 same epoch as
+   *                                 frc2::Timer::GetFPGATimestamp(). This means
+   *                                 that you should use
+   *                                 frc2::Timer::GetFPGATimestamp() as your
+   *                                 time source in this case.
+   * @param visionMeasurementStdDevs Standard deviations of the vision
+   *                                 measurements. Increase these numbers to
+   *                                 trust global measurements from vision
+   *                                 less. This matrix is in the form
+   *                                 [x, y, theta]^T, with units in meters and
+   *                                 radians.
+   */
+  void AddVisionMeasurement(
+      const Pose2d& visionRobotPose, units::second_t timestamp,
+      const wpi::array<double, 3>& visionMeasurementStdDevs) {
+    SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    AddVisionMeasurement(visionRobotPose, timestamp);
+  }
+
   /**
    * Updates the the Unscented Kalman Filter using only wheel encoder
    * information. This should be called every loop, and the correct loop period