Unscented Kalman Filter

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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

Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make

• On windows, you may need to run: cmake .. -G "Unix Makefiles" && make

4. 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

Build Instructions (xcode)

1. Clone this repo.
2. Make a build directory: mkdir xcode-build && cd xcode-build
3. Run: cmake -G Xcode ../
4. Open UnscentedKF.xcodeproj in xcode

Generating Additional Data

If you'd like to generate your own radar and lidar data, see the utilities repo for Matlab scripts that can generate additional data.

Results & Visualization of the output data

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Radar Only

Input data 1: data/input/sample-laser-radar-measurement-data-1.txt

RMSE
0.159048
0.188174
0.726899
0.675828

Input data 2: data/input/sample-laser-radar-measurement-data-2.txt

RMSE
0.785361
1.77988
2.35064
1.5312

Lidar Only

Input data 1: data/input/sample-laser-radar-measurement-data-1.txt

RMSE
0.14044
0.123413
0.824945
0.685413

Input data 2: data/input/sample-laser-radar-measurement-data-2.txt

RMSE
0.215406
0.194694
0.543321
0.56718

Radar & Lidar Combined

Input data 1: data/input/sample-laser-radar-measurement-data-1.txt

RMSE
0.0827558
0.0904532
0.657836
0.592343

Input data 2: data/input/sample-laser-radar-measurement-data-2.txt

RMSE
0.193222
0.188103
0.385123
0.511168