https://github.com/borisdayma/carnd-unscented-kalman-filter-project
Solution to the Udacity CarND Unscented Kalman Filter Project
https://github.com/borisdayma/carnd-unscented-kalman-filter-project
Science Score: 13.0%
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○CITATION.cff file
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Low similarity (14.8%) to scientific vocabulary
Repository
Solution to the Udacity CarND Unscented Kalman Filter Project
Basic Info
- Host: GitHub
- Owner: borisdayma
- Language: C++
- Default Branch: master
- Size: 762 KB
Statistics
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
Unscented Kalman Filter Project
The present repository is my solution to the Udacity Unscented Kalman Filter Project. Here below is the original readme of the project.
Self-Driving Car Engineer Nanodegree Program
In this project utilize an Unscented Kalman Filter to estimate the state of a moving object of interest with noisy lidar and radar measurements. Passing the project requires obtaining RMSE values that are lower that the tolerance outlined in the project reburic.
This project involves the Term 2 Simulator which can be downloaded here
This repository includes two files that can be used to set up and intall uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.
Once the install for uWebSocketIO is complete, the main program can be built and ran by doing the following from the project top directory.
- mkdir build
- cd build
- cmake ..
- make
- ./UnscentedKF
Note that the programs that need to be written to accomplish the project are src/ukf.cpp, src/ukf.h, tools.cpp, and tools.h
The program main.cpp has already been filled out, but feel free to modify it.
Here is the main protcol that main.cpp uses for uWebSocketIO in communicating with the simulator.
INPUT: values provided by the simulator to the c++ program
["sensor_measurement"] => the measurment that the simulator observed (either lidar or radar)
OUTPUT: values provided by the c++ program to the simulator
["estimatex"] <= kalman filter estimated position x ["estimatey"] <= kalman filter estimated position y ["rmsex"] ["rmsey"] ["rmsevx"] ["rmsevy"]
Other Important Dependencies
- cmake >= v3.5
- make >= v4.1
- gcc/g++ >= v5.4
Basic Build Instructions
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - 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
- eg.
Editor Settings
We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:
- indent using spaces
- set tab width to 2 spaces (keeps the matrices in source code aligned)
Code Style
Please stick to Google's C++ style guide as much as possible.
Generating Additional Data
This is optional!
If you'd like to generate your own radar and lidar data, see the utilities repo for Matlab scripts that can generate additional data.
Project Instructions and Rubric
This information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.
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| Name | Commits | |
|---|---|---|
| Boris Dayma | b****a@g****m | 1 |
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