Extended Kalman Filter Project

Self-Driving Car Engineer Nanodegree Program

In this project I utilize an Extended Kalman Filter to estimate the state of a moving object of interest with noisy lidar and radar measurements.

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

This repository includes two files that can be used to set up and intall uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

A specific version of uWebSocketIO must be installed for the program to interact with the simulator. To install it, run install-ubuntu.sh or install-mac.sh from the project folder.

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

1. mkdir build

2. cd build

3. cmake ..

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

4. make

5. ./ExtendedKF [OPTION]

   where [OPTION] is optional and can be one of:

   • radar to process only RADAR measurements coming from the simulator, and ignore LIDAR;
   • lidar to process only LIDAR measurements coming from the simulator, and ignore RADAR.
   • if no [OPTION] is provided, all measurements coming from the simulator are processed by the Kalman Filter.

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Other 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

Project Content

• CMakeLists.txt cmake configuration file;
• cmakepatch.txt cmake configuration file;
• .cproject Eclipse CDT project file; note that in order to use it, you should first remove the cmake configuration files from the project directory;
• data/obj_pose-laser-radar-synthetic-input.txt list of sensor readings produced by the simulator (they are provided for reference, chaning them will not affect the simulator behavior);
• Docs/Input_Output File Format.txt description of the obj_pose-laser-radar-synthetic-input.txt file format;
• .gitignore lists files to be ignored by Git;
• .project Eclipse CDT project file;
• README.md this file;
• .settings/ directory with Eclipse CDT project settings;
• src/ directory containing the project C++ source code;
• src/Eigen directory containing the Eigen template library for linear algebra.