Kalman Filter Implementations

This repository has two implementations of kalman filters:

• Extended Kalman Filter in ekf subdirectory
• Unscented Kalman Filter in ukf subdirectory

EKF filter in action:

UKF filter in action:

Compile

These Kalman Filters work with Udacity car simulator. Follow instructions to install simulator on your local machine.

• Install dependencies:

  • macOS:

    $ ./install-mac.sh

  • Ubuntu:

    $ ./install-ubuntu.sh

• Compile both EKF and UKF:

  $ cmake .
  $ make

• Compile either EKF or UKF:

  $ KALMAN_FILTER_DIRECTORY=ukf
  $ cd $KALMAN_FILER_DIRECTORY
  $ cmake .
  $ make

After these steps you will have binary files of UKF and EKF filters:

$ ls -al ukf/ ekf/ | grep '.*kf'
ekf/:
-rwxrwxr-x 1 artemav artemav 1163632 May 31 23:24 ekf
ukf/:
-rwxrwxr-x 1 artemav artemav 1580016 May 31 22:41 ukf

Run

1. Run either EKF or UKF filter:

   $ ./ukf/ukf
   Listening to port 4567

2. Run simulator:

   $ ./term2_sim_linux/term2_sim.x86_64
   Set current directory to /home/artemav/code/kalman_filters
   Found path: /home/artemav/code/kalman_filters/term2_sim_linux/term2_sim.x86_64
   Mono path[0] = '/home/artemav/code/kalman_filters/term2_sim_linux/term2_sim_Data/Managed'
   Mono path[1] = '/home/artemav/code/kalman_filters/term2_sim_linux/term2_sim_Data/Mono'
   Mono config path = '/home/artemav/code/kalman_filters/term2_sim_linux/term2_sim_Data/Mono/etc'
   displaymanager : xrandr version warning. 1.5
   client has 4 screens
   displaymanager screen (0)(DP-0): 3840 x 2160
   Using libudev for joystick management
   Importing game controller configs