Hand-in for the project Extended Kalman Filter in Self-Driving Car Engineer Nanodegree Program
I used Xcode 8.3 to as an IDE, folloing the instructions in the ide_profiles directory.
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
The RSME for the sample data was:
Accuracy - RMSE:
0.0786469
0.0819392
0.554527
0.556054
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.
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