There are quite a few 'lo-profile' systems now designed to go on top of existing floors. Eliminating any worries about excessive floor height raises. They are generally pre-routed boards (cement based)
The problem is it does depend on the current floor build-up though, especially if you are looking at thermal efficiency.
The retro-fitting image that
@Rorschach posted is the common way of getting some insulation under a joisted floor.
Of course, just laying UFH over the top of an unisulated floor (timber or concrete slab) is going to lose a lot of the heat its producing, plus cold spots and diffusing that heat are further problems. Also heat up and down times are quicker when laid on top when the real point of UFH is you run it low constantly and when the pipes imbedded in the concrete (screed) with insulation slab beneath the screed (ideal build-up) it acts as a thermal store meaning less fluctuations and energy required to keep it at the desired temperatures.
I'd recommend UFH to anyone, it has a much better warmth distribution than radiators plus you get all floor/wall space back a radiator affects. (and its cat heaven)