A self centering delivery catheter is provided for delivering a filter into a vessel in a centered manner which aids in the retrieval of the filter. The delivery catheter generally includes an outer sheath and a cannula disposed inside the outer sheath and axially translatable relative thereto. A set of centering legs are attached to the cannula. The centering legs are operable between a first retracted position and a second extended position, the centering legs moving radially away from the cannula as the centering legs move from the retracted position to the extended position. The relative position of the outer sheath and cannula control the operation of the centering legs. A control wire is disposed inside the cannula and is axially translatable relative thereto. Axial translation of the control wire operates a release mechanism to disengage the filter for delivering the filter into the vessel.