/SD_Car_ND_Extended_Kalman_Filter_P5

This repository contains the workspace of extended kalman filter project (Self-driving-car nanodegree program : project 5)

Primary LanguageC++MIT LicenseMIT

Self-Driving Car Engineer Nanodegree Program

Project : Extended Kalman Filter Project

Term : 1, Project : 5

In this project we utilize Extended Kalman Filter to estimate the state of a moving object of interest with noisy lidar and radar measurements.

dataset1_result

Important Links :

Build Instructions, to run this on local machine

Once the install for uWebSocketIO is complete, the main program can be built and run by doing the following from the project top directory.

  1. mkdir build
  2. cd build
  3. cmake ..
  4. make
  5. ./ExtendedKF

INPUT:

values provided by the simulator to the c++ program

["sensor_measurement"] => the measurement that the simulator observed (either lidar or radar)

OUTPUT:

values provided by the c++ program to the simulator

["estimate_x"] <= kalman filter estimated position x

["estimate_y"] <= kalman filter estimated position y

["rmse_x"]

["rmse_y"]

["rmse_vx"]

["rmse_vy"]

Other Important Dependencies