Extended Kalman Filter Project
This project implements a rudimentary sensor fusion module which estimates the position of a vehicle (2d, top-down) from mock Lidar and Radar sensor data. The fusion module includes an implementation of a standard (linear) Kalman filter to handle Lidar data and a linearized (extended) Kalman filter to handle Radar data. The RMSE metric is used to evaluate estimator performance.
Data
./data/obj_pose-laser-radar-synthetic-input.txt
L 3.122427e-01 5.803398e-01 1477010443000000 6.000000e-01 6.000000e-01 5.199937e+00 0 0 6.911322e-03
R 1.014892e+00 5.543292e-01 4.892807e+00 1477010443050000 8.599968e-01 6.000449e-01 5.199747e+00 1.796856e-03 3.455661e-04 1.382155e-02
...
- timestamp is in microseconds
- radar data is in polar coordinates
Resources
- kalman filter - wikipedia
- RMSE - wikipedia
- project rubric
- starter code
- simulator
- visualization tools
- Q&A video
- uWebsockets Library
- Eigen Library
- JSON Library
- Google C++ Style Guide
- C++ Core Guidelines