This is a Sensor Fusion project in Udacity's Self-Driving Car Engineer Nanodegree program. I implement an Unscented Kalman Filter in C++, which takes good care of tracking non-linear movements of other vehicles; in this case, a bicycle.
Here are the final RMSE values:
- px: 0.00556882
- py: 0.00645458
- vx: 0.0957792
- vy: 0.0879016
- All the code files are in the src folder.
- The executable file named
UnscentedKF
is in the Debug folder.