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.
This project involves the Term 2 Simulator which can be downloaded here
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1 (Linux, Mac), 3.81 (Windows)
- 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
- Windows: recommend using MinGW
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./UnscentedKFPrevious versions use i/o from text files. The current state uses i/o from the simulator.
There is no change on CMakeList.txt.
For the new version of the project, there is now only one data set "obj_pose-laser-radar-synthetic-input.txt". px, py, vx, vy output coordinates must have an RMSE <= [.09, .10, .40, .30] when using the file: "obj_pose-laser-radar-synthetic-input.txt"
The obtained RMSE value are:
| RMSE | Value | Passing Criteria |
|---|---|---|
| px | 0.0693 | 0.09 |
| py | 0.0835 | 0.10 |
| vx | 0.3336 | 0.40 |
| vy | 0.2380 | 0.30 |
Your Sensor Fusion algorithm follows the general processing flow as taught in the preceding lessons.
The general processing are file in src/ukf.cpp:
- method ProcessMeasurement at line 96
- followed by method Prediction at Line 155,
- followed by method UpdateRadar (Line 201) or method UpdateLidar (Line 273) depending on the measurement data type
The first measurement is handled at src/ukf.cpp method ProcessMeasurement from line 104 to line 131.
This is part method ProcessMeasurement update from line 137 to 145.
Radar measurement data is handled at method UpdateRadar of src/ukf.cpp from line 201 to line 267.
Lidar measurement data is handled at method UpdateLidar of src/ukf.cpp from line 273 to line 365.