Extended Kalman Filter Project

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This project implements Extended Kalman Filter in C++ for Radar and Lidar data. The Kalman filter estimates positions and velocities in the x and y directions.

Dependencies

Works only with linux

• cmake >= 3.5

• click here for installation instructions

• make >= 4.1

  • Linux: make is installed by default on most Linux distros instructions](http://gnuwin32.sourceforge.net/packages/make.htm)

• gcc/g++ >= 5.4

  • Linux: gcc / g++ is installed by default on most Linux distros

  Basic Build Instructions

  1. Clone this repo.
  2. Make a build directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./ExtendedKF path/to/input.txt path/to/output.txt. You can find some sample inputs in 'data/'.
     • eg. ./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt

Files In The Project

The project contains the following folders:

• Docs: Contains files which explain the input and output of the program and the structure of the input data
• Data: Two files containing samples of Lidar and Radar data.
• src: Contains are the c++ code that implements the kalman filer