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The state of charge (SoC) is the most commonly used performance indicator of battery used in various applications. A chronic erroneous estimation of battery SoC may result in constant over charging and discharging, which in turn causes permanent damage to the internal structure of the battery cells along with system disruptions. This paper presents a comprehensive review of different techniques for SoC estimation of batteries, followed by a review of Li-ion battery model parameter estimation methods. Then this paper classifies the Kalman filters (KFs) in a systematic manner and conducts a detailed literature review on the linear Kalman filter (LKF) and non-linear Kalman filters (NLKFs). In recent literature, the NLKFs such as extended Kalman filter (EKF), adaptive EKF (AEKF), unscented Kalman filter (UKF), and adaptive UKF (AUKF) are the most extensively established techniques for an accurate and reliable …