Unscented Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

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/sample-laser-radar-measurement-data-1.txt output.txt

Output for obj_pose-laser-radar-synthetic-input.txt test file

NIS metric