Object Tracking with Sensor Fusion-based Kalman Filter

Objective

Utilize sensor data from both LIDAR and RADAR measurements for object (e.g. pedestrian, vehicles, or other moving objects) tracking with the Kalman Filter.

Code & Files

1. Dependencies & environment

• cmake >= 3.5
• All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW
• Eigen library

2. My project files

• CMakeLists.txt is the cmake file.

• data folder contains test lidar and radar measurements.

• Docs folder contains docments which describe the data.

• src folder contains the source code.

3. Code Style

• Google’s C++ style guide.

4. How to run the code

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && make
4. Run it by the following commands:
   • ./KF ../data/obj_pose-laser-radar-synthetic-input.txt ./output.txt