The code uses the extended 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 rubric. This code was built and tested on Linux but can be built on any system where the following depencies work.
- Term 2 simulator
- uWebSockets
- cmake >= 3.5
- make >= 4.1 (Linux, Mac), 3.81 (Windows)
- gcc/g++ >= 5.4
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make- On windows, you may need to run:
cmake .. -G "Unix Makefiles" && make
- On windows, you may need to run:
- Run it:
./ExtendedKF