Udacity Self-Driving Car Engineer Nanodegree Program
In this project I will use kalman filter to estimate the state of a moving object with help of lidar and radar measurements.
I was using Windows 10 and VisualStudio17
-to build this project using Bash for window :
- navigate to projet
- write cmd : mkdir build
- then navigate to build
- write cmd : cmake .. -G "Unix Makefiles" && make
- first I have to initialize Vectors and Matrices
- Vectors and Matrices related to radar and laser inputs
- Vectors and Matrices related to Kalman Filter Equations (x, P, R, H, F, ..etc)
- then handle the first measurement - Initialization step-
- if data coming from laser we pass it to x vector as it is
- if data coming from radar we convert it from polar to cartesian, then pass it to x vector
- then after initialization we handle predict and update steps
- save the change in time, and modify F martix with new time
- update covariance matrix Q using noise and delta time
- then Predict
- after that we use the Update function
- if laser data : we do standerd kalman filter
- if rader data : we have to use Jacobian matrix to convert H matrix to get Rho, Phi , & Rho dot
- update function will result x and P values,
- then evaluate these values with RMSE fucntion