Unscented Kalman Filter Project

Overview

This project utilizes a kalman filter to estimate the state of a moving object of interest with noisy lidar and radar measurements. Radar measurements are non-linear and the Unscented Kalman filter (UKF) is the nonlinear version of the Kalman filter which linearizes about an estimate of the current mean and covariance. This project is a fusion of linear Lidar and non-linear Radar measurements.

Dependencies

• cmake >= 3.5
• All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros

Build Instructions

1. Clone the Unscented Kalman Filter git repository

   $ git clone https://github.com/jfoshea/Unscented-Kalman-Filter.git
   

2. Make a build directory if it does not exist

   $ mkdir build && cd build 
   

3. Compile

   $ cmake .. && make 
   

4. Run Unscented Kalman Filter

   $ ./UnscentedKF