Implementation of sensor fusion using Kalman Filters for localization of autonomous vehicles.

Unscented Kalman Filter using CTRV model to estimate the state of multiple cars on a highway using noisy LiDAR and Radar measurements.

This repository contains C++ code for implementation of Unscented Kalman Filter project. This task was implemented to partially fulfill Term-II goals of Udacity's self driving car nanodegree program.

Unscented Kalman Filter for fusing LiDAR and Radar data

Localization of a vehicle using Particle filter

Particle filter implementation and combination with a map to determine the precise location of a vehicle

Highlights of the Project: Unscented Kalman Filter (Sensor fusion on both LiDAR and RADAR measurements), CTRV Motion Model (Non-linear), RMSE Performance measure.