Extended Kalman Filter

Compilling

Build successfully with cmake and make. Usage: ./ExtendedEKF under build.

Accuracy

From the observation, RMSE meets the requirement RMSE <= [.11, .11, 0.52, 0.52].

Follows the Correct Algorithm

• Sensor fusion algorhithm followed the general processing flow, processMeasurment function in fussionEKF.cpp and KalmanFilter class.
• First measurement is taken care of by processMeasurement function, where a flag to indicate the first measurement and do neccessary initialization. - In processMeasurment function, an if condition to choose the right method for two sensor types lidar and radar has been addressed.

Code Efficiency

• Tried to optimize the time complexity, nothing significant madatory improvement has been found.