Self-Driving Car Engineer Nanodegree Program
In this project we implement an Unscented Kalman Filter in order to predict and model simulated path. The UKF is well suited to handling non-linear models. The CTRV model used in this is non-linear and well suited to testing with the UKF.
Details on the algorithm and functions are available here;
[PDF] (https://pdfs.semanticscholar.org/5dd9/709902c328c8f8cc8aa0d02ce2f23dac41c7.pdf)
- cmake >= v3.5
- make >= v4.1
- gcc/g++ >= v5.4
- Clone this repo.
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- 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
- eg.
There is a Jupyter Notebook (python) file in the /results
directory that can help visualize the output files from the UnscentedKF
program. It provides a visual map and plots the NIS estimates against the 95% percentile
If you'd like to generate your own radar and lidar data, see the utilities repo for Matlab scripts that can generate additional data.