Unscented Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

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Dependencies

• cmake >= v3.5
• make >= v4.1
• gcc/g++ >= v5.4

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./UnscentedKF path/to/input.txt path/to/output.txt. You can find some sample inputs in 'data/'.
   • eg. ./UnscentedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt

Results in folder sample data/

sample-laser-radar-measurement-data-1.txt:
RMSE:
0.0725465
0.0791208
0.575515
0.570454

sample-laser-radar-measurement-data-2.txt
RMSE:
0.170291
0.179895
0.257296
0.256373