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Self Driving Car Engineer Project 6 - Extended Kalman Filter

Benjamin Söllner, 02 Aug 2017


In this project I am utilizing 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 that the tolerance outlined in the project rubric.

This project involves the Term 2 Simulator which can be downloaded here.

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Dependencies

Making

Once the install for uWebSocketIO is complete, the main program can be built and run by doing the following from the project top directory.

  1. mkdir build
  2. cd build
  3. cmake ..
  4. make
  5. ./ExtendedKF

The project can also be built with Microsoft Visual Studio according to a useful article from Fahid Zubair.

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Project 6 "Extended Kalman Filters" of Udacity's "Self Driving Car Engineer" Nanodegree

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