yukitsuji/Extended_Kalman_Filter

Extended Kalman Filter by C++

Extended Kalman Filter by C++

Extended Kalman Filter(EKF) implementation by C++.

Output

RMSE	output 1	output 2
position x	0.0651795	0.183608
position y	0.0605726	0.190305
speed x	0.544212	0.499585
speed y	0.544226	0.805314

Dependencies

• cmake >= 3.5
• All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && cd .. && make
4. Run it: ./ExtendedKF path/to/input.txt path/to/output.txt. You can find some sample inputs in 'data/'.
   • eg. ./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt