This document describes the submission for Project 2: Unscented Kalman Filters. Boilerplate code provided by Udacity was improved by removing repetitive code, removing unused variables, reusing P1 code and updating main.cpp to ensure it works with the visualization notebook.
The plots shown below were generated using the ukf-visualization-extended.ipynb notebook, which was provided by Udacity though did require minor changes.
Perform the Basic Build Instructions provided by Udacity. Then run the project from the build directory on the two data files using:
./UnscentedKF ../data/sample-laser-radar-measurement-data-1.txt ../output/output1.txt
and
./UnscentedKF ../data/sample-laser-radar-measurement-data-2.txt ../output/output2.txt
The results for input file sample-laser-radar-measurement-data-1.txt are:
Accuracy - RMSE:
0.0672946
0.0756271
0.558942
0.569706
Done processing ../data/sample-laser-radar-measurement-data-1.txt
The output is available in file output\output1.txt. The results are visualised in the plot below:
The results for input file sample-laser-radar-measurement-data-2.txt are:
Accuracy - RMSE:
0.181708
0.180736
0.261946
0.283641
Done processing ../data/sample-laser-radar-measurement-data-2.txt
The output is available in file output\output2.txt. The results are visualised in the plot below:
The plot below shows the ground truth versus the estimates velocity:
The results for sample-laser-radar-measurement-data-1.txt using only the radar measurements are shown below:
Accuracy - RMSE:
0.128342
0.14145
0.62974
0.646617
Done processing ../data/sample-laser-radar-measurement-data-1.txt
The results for sample-laser-radar-measurement-data-2.txt using only the radar measurements are shown below:
Accuracy - RMSE:
0.249143
0.677432
0.820647
0.421344
Done processing ../data/sample-laser-radar-measurement-data-2.txt
For both data files the accuracy drops when only radar measurements are used, as expected.
The results for sample-laser-radar-measurement-data-1.txt using only the laser measurements are shown below:
Accuracy - RMSE:
0.0932132
0.0813661
0.653073
0.614186
Done processing ../data/sample-laser-radar-measurement-data-1.txt
The results for sample-laser-radar-measurement-data-2.txt using only the laser measurements are shown below:
Accuracy - RMSE:
0.207084
0.187352
0.363471
0.303702
Done processing ../data/sample-laser-radar-measurement-data-2.txt
Again, for both data files the accuracy drops when only laser measurements are used, as expected. However, for both files the position accuracy is still very similar to when using both measurement types, and better than when using radar measurements only.
As expected, velocity accuracy is not affected too badly when only using laser measurements compared to when both measurement types are used. Velocity accuracy for the first data set is only slightly worse compared to using radar measurements only. Interestingly, velocity accuracy for the second data set improves a lot when using laser measurements only. This may be caused by the small number of radar measurements availabe in the second data set.