CarND UKF Project

My implementation for CarND UKF project (Term2-P2).

Params

std_a_ = 0.9;

std_yawdd_ = 0.55;

P_ = MatrixXd::Identity(n_x_, n_x_);

Compile

Under Ubuntu 16.04 LTS with gcc/g++ >= v5.4.

mkdir build && cd build
cmake .. && make -j3

Results

The output results all satisfy the rubrics.

./UnscentedKF ../data/obj_pose-laser-radar-synthetic-input.txt ../output.txt

RMSE
0.0649021
0.0828896
 0.330927
 0.212981

./UnscentedKF ../data/sample-laser-radar-measurement-data-1.txt ../data/output1.txt 

RMSE
0.0771659
0.0847319
 0.598939
 0.583213

./UnscentedKF ../data/sample-laser-radar-measurement-data-2.txt ../data/output2.txt 

RMSE
0.192247
0.190768
0.412487
0.491183