stunglan / carnd-extended-kalman-filter-project

My project for the Udacity nano degre>e CarND-Extended-Kalman-Filter-Project

Extended Kalman Filter Project

Hand-in for the project Extended Kalman Filter in Self-Driving Car Engineer Nanodegree Program

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Dependencies

I used Xcode 8.3 to as an IDE, folloing the instructions in the ide_profiles directory.

To run the compiled code

The command to run the program is: ./ExtendedKF ../../data/sample-laser-radar-measurement-data-1.txt ../../data/sample-laser-radar-measurement-data-1-output.txt

RMSE

The RSME for the sample data was:

Accuracy - RMSE:
0.0786469
0.0819392
0.554527
0.556054

Code

I modified the code, using code snippets from the quizzes. I addition I had to use the formulas and comments from the lectures to add code for radar initialisation and update function.

Additional tools

I verified the code using RSME and the kalman-tracker.py and the visualisation program supplied. I did not use the notebooks from CarND-Mercedes-SF-Utilities