mez / unscented_kalman_filter_cpp

Unscented Kalman Filter in C++

Unscented Kalman Filter in C++

An Unscented Kalman Filter that uses a Constant Turn Rate and Velocity (CTRV) motion model in C++. This Ukf fuses LIDAR and RADAR sensor readings.

WIP

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/obj_pose-laser-radar-synthetic-input.txt output.txt

Output you should See

mez:build/ (master) $ ./TestUKF                                                                                        [22:11:07]
===============================================================================
No tests ran

mez:build/ (master) $ ./UnscentedKF ../data/obj_pose-laser-radar-synthetic-input.txt output.txt                        [22:11:10]
Accuracy - RMSE:
0.0597576
0.0865825
 0.331234
 0.215768
Done!

Even though linear approximation using a Jacobian matrix stinks ;)

1. Check out my implementation of an Extended Kalman Filter in C++