diff --git a/CMakeLists.txt b/CMakeLists.txt
index b3a72c3e53..213a51e1a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ include(CPack)
 include(CTest)
 include(GNUInstallDirs)
 
+add_subdirectory("benchmark")
 add_subdirectory("cmake")
 add_subdirectory("include")
 add_subdirectory("linalg")
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index bac3a50ad8..48ec2cccc8 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -106,35 +106,3 @@ foreach(BACKEND IN ITEMS "eigen" "naive")
     endforeach()
   endforeach()
 endforeach()
-
-foreach(BACKEND IN ITEMS "eigen")
-  foreach(STATE_SIZE RANGE 1 2)
-    foreach(OUTPUT_SIZE RANGE 1 2)
-      configure_file(update_linalg_xx0.cpp
-                     update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      add_executable(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      target_include_directories(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PRIVATE "include")
-      set_target_properties(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PROPERTIES CXX_STANDARD 23
-                   CXX_EXTENSIONS OFF
-                   INTERPROCEDURAL_OPTIMIZATION TRUE)
-      target_link_libraries(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
-                kalman_linalg_${BACKEND} kalman_options)
-      separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-      add_test(
-        NAME kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0
-        COMMAND
-          ${TEST_COMMAND}
-          $<TARGET_FILE:kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver>
-          "--benchmark_out=update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.json"
-      )
-    endforeach()
-  endforeach()
-endforeach()
diff --git a/benchmark/predict_1x1x0.cpp b/benchmark/predict_1x1x0.cpp
index 81571c31d6..ed2f6f5041 100644
--- a/benchmark/predict_1x1x0.cpp
+++ b/benchmark/predict_1x1x0.cpp
@@ -48,9 +48,7 @@ namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure predict, empty benchmark performance.
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<float, float>;
-
-  kalman filter;
+  kalman filter{state{0.F}, output<float>};
 
   for (auto _ : benchmark_state) {
     ::benchmark::ClobberMemory();
diff --git a/benchmark/predict_1x1x1.cpp b/benchmark/predict_1x1x1.cpp
index 02635f7a81..43bb7c4cd6 100644
--- a/benchmark/predict_1x1x1.cpp
+++ b/benchmark/predict_1x1x1.cpp
@@ -49,15 +49,14 @@ namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure predict, empty benchmark performance.
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<float, float, float>;
-
-  kalman filter;
+  kalman filter{state{0.F}, output<float>, input<float>};
   std::random_device random_device;
   std::mt19937 random_generator{random_device()};
   std::uniform_real_distribution<float> uniformly_distributed;
 
   for (auto _ : benchmark_state) {
-    const typename kalman::output u{uniformly_distributed(random_generator)};
+    const typename decltype(filter)::output u{
+        uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
diff --git a/benchmark/predict_linalg_x1x.cpp b/benchmark/predict_linalg_x1x.cpp
index 72bfbd6612..0ca0b9eeb6 100644
--- a/benchmark/predict_linalg_x1x.cpp
+++ b/benchmark/predict_linalg_x1x.cpp
@@ -59,9 +59,8 @@ template <auto Size> using vector = column_vector<float, Size>;
 //! states and inputs with the Eigen linear algebra backend.
 template <auto StateSize, auto InputSize>
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<vector<StateSize>, float, vector<InputSize>>;
-
-  kalman filter;
+  kalman filter{state{vector<StateSize>{}}, output<float>,
+                input<vector<InputSize>>};
   std::random_device random_device;
   std::mt19937 random_generator{random_device()};
   std::uniform_real_distribution<float> uniformly_distributed;
@@ -74,7 +73,7 @@ void bench(::benchmark::State &benchmark_state) {
           uv[position] = uniformly_distributed(random_generator);
         });
 
-    typename kalman::input u{uv};
+    const typename decltype(filter)::input u{uv};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
diff --git a/benchmark/update_1x1x0.cpp b/benchmark/update_1x1x0.cpp
index 96fbe908df..0920f5c533 100644
--- a/benchmark/update_1x1x0.cpp
+++ b/benchmark/update_1x1x0.cpp
@@ -49,15 +49,14 @@ namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure update, empty benchmark performance.
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<float, float>;
-
   kalman filter;
   std::random_device random_device;
   std::mt19937 random_generator{random_device()};
   std::uniform_real_distribution<float> uniformly_distributed;
 
   for (auto _ : benchmark_state) {
-    const typename kalman::output z{uniformly_distributed(random_generator)};
+    const typename decltype(filter)::output z{
+        uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
diff --git a/benchmark/update_1x1x1.cpp b/benchmark/update_1x1x1.cpp
index 776113cd8a..67bc7d0a7f 100644
--- a/benchmark/update_1x1x1.cpp
+++ b/benchmark/update_1x1x1.cpp
@@ -49,15 +49,14 @@ namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure update, empty benchmark performance.
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<float, float, float>;
-
-  kalman filter;
+  kalman filter{state{0.F}, output<float>, input<float>};
   std::random_device random_device;
   std::mt19937 random_generator{random_device()};
   std::uniform_real_distribution<float> uniformly_distributed;
 
   for (auto _ : benchmark_state) {
-    const typename kalman::output z{uniformly_distributed(random_generator)};
+    const typename decltype(filter)::output z{
+        uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
diff --git a/benchmark/update_linalg_xx0.cpp b/benchmark/update_linalg_xx0.cpp
index 172ea89868..e53d52ca61 100644
--- a/benchmark/update_linalg_xx0.cpp
+++ b/benchmark/update_linalg_xx0.cpp
@@ -68,9 +68,7 @@ template <auto Size> using vector = column_vector<float, Size>;
 //! states and outputs with the Eigen linear algebra backend.
 template <auto StateSize, auto OutputSize>
 void bench(::benchmark::State &benchmark_state) {
-  using kalman = kalman<vector<StateSize>, vector<OutputSize>, void>;
-
-  kalman filter;
+  kalman filter{state{vector<StateSize>{}}, output<vector<OutputSize>>};
   std::random_device random_device;
   std::mt19937 random_generator{random_device()};
   std::uniform_real_distribution<float> uniformly_distributed;
@@ -83,7 +81,7 @@ void bench(::benchmark::State &benchmark_state) {
           zv[position] = uniformly_distributed(random_generator);
         });
 
-    typename kalman::output z{zv};
+    const typename decltype(filter)::output z{zv};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};