Extended Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

In this project I use a 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 than [0.11, 0.11, 0.52, 0.52] for the respective x and y positions and velocities as such [px, py, vx, vy].

This project involves the Term 2 Simulator which can be downloaded here

Final Result

Code

Note that the programs that need to be written to accomplish the project are src/FusionEKF.cpp, src/FusionEKF.h, kalman_filter.cpp, kalman_filter.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 measurement that the simulator observed (either lidar or radar)

OUTPUT: values provided by the c++ program to the simulator

[“estimate_x”] <= kalman filter estimated position x [“estimate_y”] <= kalman filter estimated position y [“rmse_x”] [“rmse_y”] [“rmse_vx”] [“rmse_vy”]

Project Explanation

Installation

This repository includes two files that can be used to set up and install 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. Please see this concept in the classroom for the required version and installation scripts.

Once the install for uWebSocketIO is complete, the main program can be built and run by doing the following from the project top directory.

1. mkdir build
2. cd build
3. cmake ..
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && make
4. make
5. ./ExtendedKF

Tips for setting up your environment can be found here

Important Dependencies

• 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

Editor

I have used XCode for this project. You’ll find the project under ./ide_profiles/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.

Notes

RMSE

• First solution:
  • Both : [0.10, 0.12, 0.40, 0.42]
  • RADAR only : [0.23, 0.35, 0.48, 0.70]

  • LIDAR only : [0.19, 0.18, 0.56, 0.48]

  • 14 Steps LIDAR only [0.35, 0.54]
  • 14 Steps both [0.28, 0.55]