将卡尔曼滤波拓展到无限维测量，为视觉定位提供理论支持

This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking. We develop an extended Kalman filter (EKF) for real-time state estimation, with the measurement noise modeled as an infinite-dimensional random field. When applied to vision-based state estimation, the measurement Jacobians required to implement the EKF are shown to correspond to image gradients. This result provides a novel system-theoretic justification for the use of image gradients as features for vision-based state estimation, contrasting with their (often heuristic) introduction in many computer-vision pipelines. We demonstrate the practical utility of the EKF on a public real-world dataset involving the localization of an aerial drone using video from a downward-facing monocular camera. The EKF is shown to outperform VINS-MONO, an established visual-inertial odometry algorithm, in some cases achieving mean squared error reductions of up to an order of magnitude.