Navigator echoes are used in high-resolution cardiac MRI for tracking physiological motion to suppress motion artifacts. Alternatives to the conventional diaphragm navigator such as the cardiac fat navigator and the k-space center signal (self-navigator) were developed to monitor heart motion directly. These navigator data can be noisy or may contain undesirable frequency components. Real-time filtering of navigator data without delay, as opposed to the previously used retrospective frequency band filtering , is required for effective prospective navigator gating. One of the commonly used real-time filtering techniques is the Kalman filter, which adaptively estimates motion and suppresses measurement noise by using Bayesian statistics and a motion model. The Kalman filter is investigated in this work to filter noise and distinguish cardiac and respiratory components in navigator data. Preliminary imaging data demonstrate the feasibility of real-time Kalman filtering for prospective respiratory self-gating in CINE cardiac MRI. Magn Reson Med 60:158-168, 2008. An important approach to suppressing motion artifacts in MRI is the navigator method (1), which measures physiological motion directly from MR signal (navigator) and synchronizes image data acquisition with the physiological motion. For example, the diaphragm navigator, which images a column of tissue through the right diaphragm (2), has been successfully used for respiratory motion artifact suppression in high-resolution coronary MRA (3-5). Navigators that more directly measure cardiac motion have been developed in recent years for cardiac MRI. The cardiac fat navigator (6) tracks the motion of the heart by using a spatial-spectral excitation of the epicardial fat. The concept of self-gating based on the motion induced variation of the k-space center signal has been introduced as a "wireless" alternative to ECG gating (7,8) and has, more recently, been performed for respiratory gating using either a small subset of imaging projections (9) or an additional sampling of the center of k-space within each TR (10,11). These new navigators may have more complex signal behavior than the diaphragm navigator, which tracks a sharp diaphragm edge. For the newer navigators, additional processing may be required to filter out noise and separate cardiac and respiratory components for cardiac MRI applications. For k-space-center based self-gating, the k-space center signal has a complex dependence on the slice position, orientation, thickness, and field-of-view, and on local and global physiological motion within the excited imaging volume. Filtering of this k-space center signal is required to extract the right motion parameter for motion gating. Most current cardiac MRI methods that use cardiac and/or respiratory self-gating are retrospective techniques that require multiple acquisitions followed by a sorting of the entire over-scanned dataset offline. Self-gating signals are processed using frequency filters, which are inherently slow and unsuitable for real-time proces...