/sensor-fusion

Kalman filters (KF, EKF, UKF), LIDAR object detection

Primary LanguageC++GNU General Public License v3.0GPL-3.0

Sensor Fusion with Kalman Filter

Jun Zhu Build Status

alt text

Sensor fusion with different implementions of Kalman filter.

A stream of simulated mixed Lidar and Radar data will be used to estimate the trajectory of a car moving in curved trajectory. The theory used in this project is summarized here

alt text

[1] Extended Kalman Filter (LIDAR and RADAR)

[2] Uncented Kalman Filter (LIDAR and RADAR)

[3] LIDAR Obstacle Detection

Raw data