{"id":13699650,"url":"https://github.com/NikolasEnt/Extended-Kalman-Filter","last_synced_at":"2025-05-04T16:35:37.060Z","repository":{"id":205011058,"uuid":"86758758","full_name":"NikolasEnt/Extended-Kalman-Filter","owner":"NikolasEnt","description":"Udacity Self-Driving Car Engineer Nanodegree. 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The main goal of the project is to apply Extended Kalman Filter to fuse data from LIDAR and Radar sensors of a self driving car using C++.\n\nThe project was created with the Udacity [Starter Code](https://github.com/udacity/CarND-Extended-Kalman-Filter-Project).\n\n## Content of this repo\n- `scr` a directory with the project code:\n  - `main.cpp` - reads in data, calls a function to run the Kalman filter, calls a function to calculate RMSE\n  - `FusionEKF.cpp` - initializes the filter, calls the predict function, calls the update function\n  - `kalman_filter.cpp`- defines the predict function, the update function for lidar, and the update function for radar\n  - `tools.cpp` - a function to calculate RMSE and the Jacobian matrix\n- `data`  a directory with two input files, provided by Udacity\n- `results`  a directory with output and log files\n- `Docs` a directory with files formats description\n- [task.md](task.md) the task of the project by Udacity\n- `extra` a directory with detailed information used hardware and software (`extra/additional_info.txt` file) and screenshots of the final RMSE. \n\n## Result\n![input 1 results](readme_img/plot1.png)\nAccuracy - RMSE: [0.0651648, 0.0605379,  0.533212,  0.544193]\n\n*Threshold*: RMSE \u003c= [0.08, 0.08, 0.60, 0.60]\n![input 2 results](readme_img/plot2.png)\nAccuracy - RMSE: [0.18566, 0.190271, 0.474522, 0.811142]\n\n*Threshold*: RMSE \u003c= [0.20, 0.20, .50, .85]\n\nThe results were visualized with [Sensor Fusion utilities](https://github.com/udacity/CarND-Mercedes-SF-Utilities).\n\n## How to run the code\nClone this repo and perform \n```\nmkdir build \u0026\u0026 cd build\ncmake .. \u0026\u0026 make\n./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output1.txt \u003e input1.log\n./ExtendedKF ../data/sample-laser-radar-measurement-data-2.txt output2.txt \u003e input2.log\n```\nFor details, see [task.md](task.md)\n\nThe resulted output files are supplied in the [results](results) directory.\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FNikolasEnt%2FExtended-Kalman-Filter","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FNikolasEnt%2FExtended-Kalman-Filter","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FNikolasEnt%2FExtended-Kalman-Filter/lists"}