Udacity Self-Driving Car ND Project - Kalman Filters
C++ CMake Python
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README.md

Kalman Filters

The package contains a small library implementing kalman filters and a radar-lidar fusion using both extended and unscented filters.

Extended filter:

]==>  ./ExtendedKF  ../data/obj_pose-laser-radar-synthetic-input.txt ../src/ekf.txt
Accuracy - RMSE:
0.0973826
0.0853209
0.441738
0.453757

Unscented filter:

]==>  ./UnscentedKF  ../data/obj_pose-laser-radar-synthetic-input.txt ../src/ukf.txt
Accuracy - RMSE:
0.0659867
0.0811041
0.277747
0.166186

Unscented Filter

Extended Filter

Diffrence against ground truth