xjtuyanshi / carnd-extended-kalman-filter-project

Self-Driving Car Nanodegree Program Starter Code for the Extended Kalman Filter Project

Extended Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

In this project I utilize a kalman filter to estimate the state of a moving object of interest with noisy lidar and radar measurements. Passing the project requires obtaining RMSE values that are lower than the tolerance outlined in the project rubric.

You can find my sorce code through kalman_filter.cpp,FusionEKF.cpp and tools.cpp. Here is running results, as we can see the program get the trajectory in a certain accuracy level- RMSE = [.0973, .0855, 0.4513, 0.4399]. which is lower than required RMSE <= [.11, .11, 0.52, 0.52].

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 .. && make
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && 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

Editor Settings

We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:

• indent using spaces
• set tab width to 2 spaces (keeps the matrices in source code aligned)

Code Style

Please (do your best to) stick to Google's C++ style guide.