Sensor Fusion ND: Unscented Kalman Filter
Highway Project
In this Udacity project you will implement an Unscented Kalman Filter (UKF) to estimate the state of multiple cars on a highway using noisy lidar and radar measurements.
For further details see Udacitys README.md.
Build Instructions
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./ukf_highway
Report
For a detailed analysis of the filter output have a look at the Jupyter Notebook ukf_analysis.ipynb.
The following map is generated,
and the Normalized Innovation Squared (NIS) is computed to check the consistency of the selected process noise parameters.
