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Udacity Self Driving Course (Sensor Fusion UKF)
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README.md

Unscented Kalman Filter Project

Self-Driving Car Engineer Nanodegree Program

In this project utilize an Unscented 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 reburic.

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. Please see this concept in the classroom for the required version and installation scripts.

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 ..
  4. make
  5. ./UnscentedKF

Basic Build Instructions

  1. Clone this repo. Either run ./start.sh from /src folder or follow the below steps.
  2. Make a build directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./UnscentedKF from the simulator.

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