/carnd_t2_p1

Extended Kalman filter project

Primary LanguageC++MIT LicenseMIT

Extended Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

This project implements Extended Kalman filter to estimate position and velocity of a moving pedestrian. The state of a moving object of interest with noisy lidar and radar measurements. In order to satisfy the project rubric requirements, EKF with RMSE below the pre-defined bound has been devised.

This project should be run in the Simulator which can be downloaded here

Cmake is used as a build system for the project. In order to compile the code:

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

Important Dependencies

The project has been tested / run on Ubuntu.

  • cmake >= 3.5
  • make >= 4.1 (Linux, Mac),
  • gcc/g++ >= 5.4

RMSE

The Extended Kalman filter is run against the test data set, obtaining the following error:

EKF result pic

In order to come to a correct results:

  • initialize previous time stamp when seeing the first time stamp;
  • update for Radar: (1) roll the angle to [-pi, pi] interval after calculating y
  • update for Radar: (2) avoid infinitesimal numbers when calculating rho ( or h(0) ), in order to avoid division by zero in rho_dot (or h(2) ).