Unscented Kalman Filter Project

Self-Driving Car Engineer Nanodegree Program

Implementation of Unscented Kalman filter for estimating position and velocity by fusing Lidar and Radar data.

Other Important Dependencies (check install-mac.sh | install-ubuntu.sh)

cmake >= 3.5
- All OSes: click here for installation instructions
make >= 4.1 (Linux, Mac), 3.81 (Windows)
- 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
- Windows: recommend using MinGW

Basic Build Instructions

Clone this repo.
Make a build directory: mkdir build && cd build
Compile: cmake .. && make
Run it: ./UnscentedKF Previous versions use i/o from text files. The current state uses i/o from the simulator.