shangliy / Shangliy_CarND-Extended-Kalman-Filter

Extended Kalman Filter Project Starter Code

This is the project for Self-Driving Car Engineer Nanodegree Program. The codes are already compiled. The results are also visulized.

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Dependencies

• cmake >= 3.5
• All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./ExtendedKF path/to/input.txt path/to/output.txt. You can find some sample inputs in 'data/'.
   • eg. ./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt

Results

1. run against "sample-laser-radar-measurement-data-1.txt".

   • ./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt sample-laser-radar-data-1-output.txt
   • Accuracy - RMSE: [0.0651649, 0.0651649, 0.54319, 0.544191]
   • Visulization: Modify txt file name in /CarND-Mercedes-SF-Utilities-master/python/ekf-visualization

2. run against "sample-laser-radar-measurement-data-2.txt".

   • ./ExtendedKF ../data/sample-laser-radar-measurement-data-2.txt sample-laser-radar-data-2-output.txt
   • Accuracy - RMSE: [0.185496, 0.185496, 0.476754, 0.804469]
   • Visulization: Modify txt file name in /CarND-Mercedes-SF-Utilities-master/python/ekf-visualization