Not sure how they do it but I think it's quite feasible to extend a kalman filter to include camera intput referenced to an image. E.g. https://doi.org/10.3390/

Not sure how they do it but I think it's quite feasible to extend a kalman filter to include camera intput referenced to an image. E.g. https://doi.org/10.3390/aerospace9090503 https://doi.org/10.3390/aerospace9090503