├── .gitignore ├── README.md ├── main.py ├── tracker.py ├── utils.py ├── ekf.py └── data ├── sample-laser-radar-measurement-data-2.txt └── sample-laser-radar-measurement-data-1.txt /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | .ipynb_checkpoints/ 3 | *.ipynb 4 | kalman-tracker.py 5 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # extended_kalman_filter_python 2 | An Extended Kalman Filter (that uses a constant velocity model) in Python. 3 | This EKF fuses LIDAR and RADAR sensor readings to estimate location (x,y) and velocity (vx, vy). 4 | 5 | ### Source layout 6 | 7 | 1. `main.py` - Can run the tracker. 8 | 2. `tracker.py` - Instance that tracks and uses EKF to predict and update state. 9 | 3. `efk.py` - EKF implementation lives here. 10 | 4. `utils.py` - Helper methods. 11 | 12 | ### Package requirements 13 | 14 | 1. pandas 15 | 2. numpy 16 | 17 | 18 | ### Data log input file format 19 | 20 | ``` 21 | #L(for laser) meas_px meas_py timestamp gt_px gt_py gt_vx gt_vy 22 | #R(for radar) meas_rho meas_phi meas_rho_dot timestamp gt_px gt_py gt_vx gt_vy 23 | 24 | Example: 25 | R 8.60363 0.0290616 -2.99903 1477010443399637 8.6 0.25 -3.00029 0 26 | L 8.45 0.25 1477010443349642 8.45 0.25 -3.00027 0 27 | ``` 28 | 29 | ### To run the filter 30 | 31 | `python main.py` 32 | 33 | ``` 34 | Started Tracker for sample-laser-radar-measurement-data-1.txt 35 | estimations count: 1224 36 | measurements count: 1224 37 | RMSE: [[ 0.06516487 0.06053792 0.53321165 0.5441927 ]] 38 | Metric: [0.08, 0.08, 0.6, 0.6] 39 | RMSE PASSED metric 40 | 41 | 42 | Started Tracker for sample-laser-radar-measurement-data-2.txt 43 | estimations count: 200 44 | measurements count: 200 45 | RMSE: [[ 0.18549633 0.19030227 0.47675529 0.80446808]] 46 | Metric: [0.2, 0.2, 0.5, 0.85] 47 | ``` 48 | -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- 1 | import pandas as pd 2 | from utils import MeasurementPacket, calculate_rmse, passing_rmse 3 | from tracker import Tracker 4 | 5 | def runTracker(data_path): 6 | ''' 7 | This is simulating our sensors data stream. 8 | 9 | ***Note*** 10 | This is not a generator so if your sample log file is huge it'll load it 11 | all into memory. For now this is acceptable ;) 12 | ''' 13 | data_packets = pd.read_csv(data_path, 14 | header=None, 15 | sep='\t', 16 | names=['x'+str(x) for x in range(9)]) 17 | 18 | ''' 19 | For now we are only tracking one object, hence we only need one Tracker. 20 | If the vehicle seen for example three people and three cars we'd need six trackers. 21 | So you'd ideally have a list of trackers going at once. However, I could be wrong! 22 | ''' 23 | tracker = Tracker() 24 | 25 | ''' 26 | This is the main loop that updates and tracks the objects. 27 | EKF style! 28 | ''' 29 | 30 | estimations = [] 31 | measurements = [] 32 | 33 | for _ , raw_measurement_packet in data_packets.iterrows(): 34 | measurement_packet = MeasurementPacket(raw_measurement_packet) 35 | measurements.append(measurement_packet) 36 | tracker.process_measurement(measurement_packet) 37 | estimations.append(tracker.state) 38 | 39 | return estimations, measurements 40 | 41 | 42 | if __name__ == '__main__': 43 | print("Started Tracker for sample-laser-radar-measurement-data-1.txt") 44 | estimations, measurements = runTracker('./data/sample-laser-radar-measurement-data-1.txt') 45 | print("estimations count: ", len(estimations)) 46 | print("measurements count: ", len(measurements)) 47 | 48 | rmse = calculate_rmse(estimations, [m.ground_truth for m in measurements]).flatten() 49 | print("RMSE: ", rmse) 50 | #check if we passed metric for data1 log file. 51 | passing_rmse(rmse, [0.08, 0.08, 0.60, 0.60]) 52 | 53 | 54 | print("\n\nStarted Tracker for sample-laser-radar-measurement-data-2.txt") 55 | estimations, measurements = runTracker('./data/sample-laser-radar-measurement-data-2.txt') 56 | print("estimations count: ", len(estimations)) 57 | print("measurements count: ", len(measurements)) 58 | 59 | rmse = calculate_rmse(estimations, [m.ground_truth for m in measurements]).flatten() 60 | print("RMSE: ", rmse) 61 | #check if we passed metric for data2 log file. 62 | passing_rmse(rmse, [0.20, 0.20, .50, .85]) 63 | -------------------------------------------------------------------------------- /tracker.py: -------------------------------------------------------------------------------- 1 | from utils import SensorType, polar_2_cart 2 | from ekf import ExtendedKalmanFilter 3 | import numpy as np 4 | 5 | class Tracker: 6 | ''' 7 | The Tracker class is created everytime we detect a new object during our analysis from either 8 | the LIDAR point cloud or the RADAR doppler. It contains the entire state of the tracked object. 9 | ''' 10 | def __init__(self): 11 | #ideally we'd be given this ID from the measurement_packets coming in. 12 | #However, I currently don't know how multiple objects are Identified. 13 | self.id = None 14 | 15 | #this is where the magic happens. 16 | self.__ekf = ExtendedKalmanFilter() 17 | self.__is_initialized = False 18 | self.__previous_timestamp = 0. 19 | 20 | @property 21 | def state(self): 22 | return self.__ekf.current_estimate[0] 23 | 24 | def process_measurement(self,measurement_packet): 25 | # if this is first measurement_packet, then setup state vector. 26 | if not self.__is_initialized: 27 | x, y, vx, vy = 0,0,0,0 28 | if measurement_packet.sensor_type == SensorType.LIDAR: 29 | x, y, vx, vy = measurement_packet.x_measured,measurement_packet.y_measured,0,0 30 | 31 | elif measurement_packet.sensor_type == SensorType.RADAR: 32 | #we have the polar space measurements; we need to transform to cart space. 33 | x,y, vx, vy = polar_2_cart(measurement_packet.rho_measured, 34 | measurement_packet.phi_measured, 35 | measurement_packet.rhodot_measured) 36 | 37 | if abs(x+y) <= 1e-4: 38 | x = 1e-4 39 | y = 1e-4 40 | 41 | self.__ekf.init_state_vector(x,y, vx, vy) 42 | self.__previous_timestamp = measurement_packet.timestamp 43 | self.__is_initialized = True 44 | return 45 | 46 | 47 | #1st we calculate how much time has passed since our last measurement_packet in seconds 48 | dt =( measurement_packet.timestamp - self.__previous_timestamp) / 1000000.0 49 | self.__previous_timestamp = measurement_packet.timestamp 50 | 51 | #2nd set new F and Q using new dt 52 | self.__ekf.recompute_F_and_Q(dt) 53 | 54 | #3rd make a prediction 55 | self.__ekf.predict() 56 | 57 | #4th update prediction 58 | if measurement_packet.sensor_type == SensorType.LIDAR: 59 | self.__ekf.updateLidar(measurement_packet) 60 | elif measurement_packet.sensor_type == SensorType.RADAR: 61 | self.__ekf.updateRadar(measurement_packet) 62 | -------------------------------------------------------------------------------- /utils.py: -------------------------------------------------------------------------------- 1 | ''' 2 | utils provides helper classes and methods. 3 | ''' 4 | 5 | from enum import Enum 6 | import numpy as np 7 | import numpy.matlib 8 | 9 | from math import sin, cos, sqrt, atan2 10 | 11 | def state_vector_to_scalars(state_vector): 12 | ''' 13 | Returns the elements from the state_vector as a tuple of scalars. 14 | ''' 15 | return (state_vector[0][0,0],state_vector[1][0,0],state_vector[2][0,0],state_vector[3][0,0]) 16 | 17 | def cart_2_polar(state_vector): 18 | ''' 19 | Transforms the state vector into the polar space. 20 | ''' 21 | 22 | px,py,vx,vy = state_vector_to_scalars(state_vector) 23 | ro = sqrt(px**2 + py**2) 24 | 25 | phi = atan2(py,px) 26 | ro_dot = (px*vx + py*vy)/ro 27 | 28 | return np.matrix([ro, phi, ro_dot]).T 29 | 30 | def polar_2_cart(ro, phi, ro_dot): 31 | ''' 32 | ro: range 33 | phi: bearing 34 | ro_dot: range rate 35 | 36 | Takes the polar coord based radar reading and convert to cart coord x,y, vx, vy 37 | return (x,y, vx, vy) 38 | ''' 39 | return (cos(phi) * ro, sin(phi) * ro, ro_dot * cos(phi) , ro_dot * sin(phi)) 40 | 41 | def passing_rmse(rmse, metric): 42 | print("Metric: ", metric) 43 | for index, threshold in enumerate(metric): 44 | if rmse[0,index] > threshold: 45 | print("RMSE FAILED metric @ index ", index) 46 | return False 47 | 48 | print("RMSE PASSED metric") 49 | return True 50 | 51 | def calculate_rmse(estimations, ground_truth): 52 | ''' 53 | Root Mean Squared Error. 54 | ''' 55 | if len(estimations) != len(ground_truth) or len(estimations) == 0: 56 | raise ValueError('calculate_rmse () - Error - estimations and ground_truth must match in length.') 57 | 58 | rmse = np.matrix([0.,0.,0.,0.]).T 59 | 60 | for est, gt in zip(estimations, ground_truth): 61 | rmse += np.square(est - gt) 62 | 63 | rmse /= len(estimations) 64 | return np.sqrt(rmse) 65 | 66 | 67 | class SensorType(Enum): 68 | ''' 69 | Enum types for the sensors. Future sensors would be added here. 70 | ''' 71 | LIDAR = 'L' 72 | RADAR = 'R' 73 | 74 | class MeasurementPacket: 75 | ''' 76 | Defines a measurement datapoint for multiple sensor types. 77 | ''' 78 | def __init__(self, packet): 79 | self.sensor_type = SensorType.LIDAR if packet[0] == 'L' else SensorType.RADAR 80 | 81 | if self.sensor_type == SensorType.LIDAR: 82 | self.setup_lidar(packet) 83 | elif self.sensor_type == SensorType.RADAR: 84 | self.setup_radar(packet) 85 | 86 | def setup_radar(self, packet): 87 | self.rho_measured = packet[1] 88 | self.phi_measured = packet[2] 89 | self.rhodot_measured = packet[3] 90 | self.timestamp = packet[4] 91 | self.x_groundtruth = packet[5] 92 | self.y_groundtruth = packet[6] 93 | self.vx_groundtruth = packet[7] 94 | self.vy_groundtruth = packet[8] 95 | 96 | def setup_lidar(self, packet): 97 | self.x_measured = packet[1] 98 | self.y_measured = packet[2] 99 | self.timestamp = packet[3] 100 | self.x_groundtruth = packet[4] 101 | self.y_groundtruth = packet[5] 102 | self.vx_groundtruth = packet[6] 103 | self.vy_groundtruth = packet[7] 104 | 105 | @property 106 | def z(self): 107 | ''' 108 | Returns a vectorized version of the measurement for EKF typically called z. 109 | ''' 110 | if self.sensor_type == SensorType.LIDAR: 111 | return np.matrix([[self.x_measured,self.y_measured]]).T 112 | elif self.sensor_type == SensorType.RADAR: 113 | return np.matrix([[self.rho_measured,self.phi_measured,self.rhodot_measured]]).T 114 | 115 | @property 116 | def ground_truth(self): 117 | return np.matrix([[self.x_groundtruth, 118 | self.y_groundtruth, 119 | self.vx_groundtruth, 120 | self.vy_groundtruth]]).T 121 | 122 | def __str__(self): 123 | if self.sensor_type == SensorType.LIDAR: 124 | return "LIDAR (timestamp: {:>8}) \n MEASUREMENT [{:>4} || {:>4}] \n GROUND TRUTH [{:>4} || {:>4} || {:>4} || {:>4}]".format( 125 | self.timestamp, 126 | 127 | self.x_measured, 128 | self.y_measured , 129 | 130 | self.x_groundtruth , 131 | self.y_groundtruth, 132 | self.vx_groundtruth, 133 | self.vy_groundtruth) 134 | 135 | elif self.sensor_type == SensorType.RADAR: 136 | return "RADAR (timestamp: {:>8}) \n MEASUREMENT [{:>4} || {:>4} <> {:>4}] \n GROUND TRUTH [{:>4} || {:>4} || {:>4} || {:>4}]".format( 137 | self.timestamp , 138 | 139 | self.rho_measured, 140 | self.phi_measured , 141 | self.rhodot_measured, 142 | 143 | self.x_groundtruth, 144 | self.y_groundtruth , 145 | self.vx_groundtruth, 146 | self.vy_groundtruth ) 147 | -------------------------------------------------------------------------------- /ekf.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import numpy.matlib 3 | from math import pi, sqrt 4 | 5 | from utils import cart_2_polar, state_vector_to_scalars 6 | 7 | class ExtendedKalmanFilter: 8 | def __init__(self): 9 | ''' 10 | Each object being tracked will result in the creation of a new ExtendedKalmanFilter instance. 11 | 12 | TODO: consider making these just class methods; that way we don't have many instances and instead 13 | each tracker will just call to these methods with the matrices to update. 14 | ''' 15 | 16 | #do this once do we don't keep redoing in update step 17 | self.__xI = np.matlib.identity(4) 18 | 19 | self.__x = None 20 | self.__F = None 21 | self.__Q = None 22 | 23 | self.__P = np.matrix([[1,0,0,0], 24 | [0,1,0,0], 25 | [0,0,1000,0], 26 | [0,0,0,1000]]) 27 | 28 | self.__HL = np.matrix([[1,0,0,0], 29 | [0,1,0,0]]) 30 | 31 | self.__HR = np.matlib.zeros((3,4)) 32 | 33 | self.__RL = np.matrix([[0.0225,0], 34 | [0,0.0225]]) 35 | 36 | self.__RR = np.matrix([[0.09,0,0], 37 | [0,0.0009,0], 38 | [0,0,0.09]]) 39 | 40 | #we can adjust these to get better accuracy 41 | self.__noise_ax = 9 42 | self.__noise_ay = 9 43 | 44 | @property 45 | def current_estimate(self): 46 | return (self.__x, self.__P) 47 | 48 | def init_state_vector(self, x,y, vx, vy): 49 | self.__x = np.matrix([[x,y,vx,vy]]).T 50 | 51 | def recompute_F_and_Q(self, dt): 52 | ''' 53 | updates the motion model and process covar based on delta time from last measurement. 54 | ''' 55 | 56 | #set F 57 | self.__F = np.matrix([[1,0,dt,0], 58 | [0,1,0,dt], 59 | [0,0,1,0], 60 | [0,0,0,1]]) 61 | #set Q 62 | dt2 = dt**2 63 | dt3 = dt**3 64 | dt4 = dt**4 65 | 66 | e11 = dt4 * self.__noise_ax / 4 67 | e13 = dt3 * self.__noise_ax / 2 68 | e22 = dt4 * self.__noise_ay / 4 69 | e24 = dt3 * self.__noise_ay / 2 70 | e31 = dt3 * self.__noise_ax / 2 71 | e33 = dt2 * self.__noise_ax 72 | e42 = dt3 * self.__noise_ay / 2 73 | e44 = dt2 * self.__noise_ay 74 | 75 | self.__Q = np.matrix([[e11, 0, e13, 0], 76 | [0, e22, 0, e24], 77 | [e31, 0, e33, 0], 78 | [0, e42, 0, e44]]) 79 | 80 | def recompute_HR(self): 81 | ''' 82 | calculate_jacobian of the current state. 83 | ''' 84 | px,py,vx,vy = state_vector_to_scalars(self.__x) 85 | 86 | pxpy_squared = px**2+py**2 87 | pxpy_squared_sqrt = sqrt(pxpy_squared) 88 | pxpy_cubed = (pxpy_squared*pxpy_squared_sqrt) 89 | 90 | if pxpy_squared < 1e-4: 91 | self.__HR = np.matlib.zeros((3,4)) 92 | return 93 | 94 | e11 = px/pxpy_squared_sqrt 95 | e12 = py/pxpy_squared_sqrt 96 | e21 = -py/pxpy_squared 97 | e22 = px/pxpy_squared 98 | e31 = py*(vx*py - vy*px)/pxpy_cubed 99 | e32 = px*(px*vy - py*vx)/pxpy_cubed 100 | 101 | self.__HR = np.matrix([[e11, e12, 0, 0], 102 | [e21, e22, 0, 0], 103 | [e31, e32, e11, e12]]) 104 | 105 | def predict(self): 106 | ''' 107 | This is a projection step. we predict into the future. 108 | ''' 109 | self.__x = self.__F * self.__x 110 | self.__P = (self.__F * self.__P * self.__F.T) + self.__Q 111 | 112 | def updateLidar(self,measurement_packet): 113 | ''' 114 | This is the projection correction; after we predict we use the sensor data 115 | and use the kalman gain to figure out how much of the correction we need. 116 | ''' 117 | 118 | #this is the error of our prediction to the sensor readings 119 | y = measurement_packet.z - self.__HL*self.__x 120 | 121 | #pre compute for the kalman gain K 122 | PHLt = self.__P * self.__HL.T 123 | S = self.__HL * PHLt + self.__RL 124 | K = PHLt*S.I 125 | 126 | #now we update our prediction using the error and kalman gain. 127 | self.__x += K*y 128 | self.__P = (self.__xI - K*self.__HL) * self.__P 129 | 130 | def updateRadar(self,measurement_packet): 131 | ''' 132 | This is the projection correction; after we predict we use the sensor data 133 | and use the kalman gain to figure out how much of the correction we need. 134 | 135 | This is a special case as we will need a Jocabian matrix to have a linear 136 | approximation of the transformation function h(x) 137 | ''' 138 | 139 | y = measurement_packet.z - cart_2_polar(self.__x) 140 | #make sure the phi in y is -pi <= phi <= pi 141 | while (y[1] > pi): y[1] -= 2.*pi 142 | while (y[1] < -pi): y[1] += 2.*pi 143 | 144 | #recompute Jacobian 145 | self.recompute_HR() 146 | 147 | #pre compute for the kalman gain K 148 | #TODO: this code is not DRY should refactor here. 149 | S = self.__HR * self.__P * self.__HR.T + self.__RR 150 | K = self.__P*self.__HR.T*S.I 151 | 152 | #now we update our prediction using the error and kalman gain. 153 | self.__x += K*y 154 | self.__P = (self.__xI - K*self.__HR) * self.__P 155 | -------------------------------------------------------------------------------- /data/sample-laser-radar-measurement-data-2.txt: -------------------------------------------------------------------------------- 1 | L 0 0 1477010443349642 0 0 0 0 2 | R 0 0 0 1477010443349642 0 0 0 0 3 | L 1.559445e+00 -1.385015e-01 1477010444349642 2.098967e+00 5.222280e-02 2.195949e+00 1.093391e-01 4 | R 1.812711e+00 2.619727e-02 2.305732e+00 1477010444349642 2.098967e+00 5.222280e-02 2.195949e+00 1.093391e-01 5 | L 3.890927e+00 -1.341657e-01 1477010445349642 4.291359e+00 2.153118e-01 2.284336e+00 2.263225e-01 6 | R 4.200967e+00 5.202598e-02 2.418127e+00 1477010445349642 4.291359e+00 2.153118e-01 2.284336e+00 2.263225e-01 7 | L 6.863517e+00 4.168175e-01 1477010446349642 6.569422e+00 4.960956e-01 2.363816e+00 3.488471e-01 8 | R 6.456604e+00 7.330529e-02 2.438466e+00 1477010446349642 6.569422e+00 4.960956e-01 2.363816e+00 3.488471e-01 9 | L 9.077331e+00 5.932112e-01 1477010447349642 8.924371e+00 8.992403e-01 2.433593e+00 4.745258e-01 10 | R 8.941596e+00 9.936074e-02 2.529122e+00 1477010447349642 8.924371e+00 8.992403e-01 2.433593e+00 4.745258e-01 11 | L 1.157555e+01 1.666900e+00 1477010448349642 1.134677e+01 1.426997e+00 2.493282e+00 6.007812e-01 12 | R 1.153365e+01 1.242681e-01 2.500995e+00 1477010448349642 1.134677e+01 1.426997e+00 2.493282e+00 6.007812e-01 13 | L 1.359209e+01 2.311915e+00 1477010449349642 1.382695e+01 2.079045e+00 2.542900e+00 7.249468e-01 14 | R 1.380271e+01 1.453491e-01 2.539724e+00 1477010449349642 1.382695e+01 2.079045e+00 2.542900e+00 7.249468e-01 15 | L 1.664559e+01 2.902999e+00 1477010450349642 1.635537e+01 2.852433e+00 2.582842e+00 8.443653e-01 16 | R 1.652890e+01 1.730753e-01 2.728349e+00 1477010450349642 1.635537e+01 2.852433e+00 2.582842e+00 8.443653e-01 17 | L 1.901058e+01 3.705553e+00 1477010451349642 1.892299e+01 3.741610e+00 2.613820e+00 9.564796e-01 18 | R 1.974624e+01 1.973267e-01 2.502012e+00 1477010451349642 1.892299e+01 3.741610e+00 2.613820e+00 9.564796e-01 19 | L 2.133124e+01 4.732053e+00 1477010452349642 2.152152e+01 4.738551e+00 2.636790e+00 1.058912e+00 20 | R 2.213645e+01 2.161499e-01 2.798219e+00 1477010452349642 2.152152e+01 4.738551e+00 2.636790e+00 1.058912e+00 21 | L 2.407871e+01 5.569675e+00 1477010453349642 2.414369e+01 5.832949e+00 2.652861e+00 1.149525e+00 22 | R 2.526425e+01 2.366585e-01 3.081090e+00 1477010453349642 2.414369e+01 5.832949e+00 2.652861e+00 1.149525e+00 23 | L 2.660525e+01 6.961020e+00 1477010454349642 2.678329e+01 7.012457e+00 2.663198e+00 1.226470e+00 24 | R 2.742432e+01 2.543628e-01 2.977206e+00 1477010454349642 2.678329e+01 7.012457e+00 2.663198e+00 1.226470e+00 25 | L 2.958639e+01 8.087890e+00 1477010455349642 2.943523e+01 8.262985e+00 2.668927e+00 1.288219e+00 26 | 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1.508248e+02 2.205016e+01 2.671106e+00 1.339530e+00 154 | R 1.522205e+02 1.438054e-01 2.969367e+00 1477010519349642 1.508248e+02 2.205016e+01 2.671106e+00 1.339530e+00 155 | L 1.534220e+02 2.349086e+01 1477010520349642 1.534907e+02 2.339992e+01 2.669994e+00 1.364696e+00 156 | R 1.551664e+02 1.481995e-01 2.797327e+00 1477010520349642 1.534907e+02 2.339992e+01 2.669994e+00 1.364696e+00 157 | L 1.560466e+02 2.480844e+01 1477010521349642 1.561589e+02 2.476822e+01 2.666656e+00 1.372076e+00 158 | R 1.580103e+02 1.593196e-01 2.643090e+00 1477010521349642 1.561589e+02 2.476822e+01 2.666656e+00 1.372076e+00 159 | L 1.589049e+02 2.603078e+01 1477010522349642 1.588271e+02 2.613723e+01 2.661274e+00 1.361574e+00 160 | R 1.611563e+02 1.632386e-01 3.010232e+00 1477010522349642 1.588271e+02 2.613723e+01 2.661274e+00 1.361574e+00 161 | L 1.614116e+02 2.742561e+01 1477010523349642 1.614933e+02 2.748911e+01 2.653713e+00 1.333437e+00 162 | R 1.639112e+02 1.707092e-01 2.719047e+00 1477010523349642 1.614933e+02 2.748911e+01 2.653713e+00 1.333437e+00 163 | L 1.636251e+02 2.876827e+01 1477010524349642 1.641551e+02 2.880636e+01 2.643541e+00 1.288250e+00 164 | R 1.667132e+02 1.767602e-01 2.800348e+00 1477010524349642 1.641551e+02 2.880636e+01 2.643541e+00 1.288250e+00 165 | L 1.668278e+02 3.020623e+01 1477010525349642 1.668094e+02 3.007213e+01 2.630062e+00 1.226937e+00 166 | R 1.693747e+02 1.763346e-01 2.783027e+00 1477010525349642 1.668094e+02 3.007213e+01 2.630062e+00 1.226937e+00 167 | L 1.690972e+02 3.137172e+01 1477010526349642 1.694525e+02 3.127061e+01 2.612376e+00 1.150751e+00 168 | R 1.721064e+02 1.793748e-01 2.783685e+00 1477010526349642 1.694525e+02 3.127061e+01 2.612376e+00 1.150751e+00 169 | L 1.721752e+02 3.234041e+01 1477010527349642 1.720795e+02 3.238732e+01 2.589450e+00 1.061263e+00 170 | R 1.752070e+02 1.875434e-01 2.809252e+00 1477010527349642 1.720795e+02 3.238732e+01 2.589450e+00 1.061263e+00 171 | L 1.746430e+02 3.346252e+01 1477010528349642 1.746846e+02 3.340945e+01 2.560210e+00 9.603409e-01 172 | R 1.777403e+02 1.919932e-01 2.623035e+00 1477010528349642 1.746846e+02 3.340945e+01 2.560210e+00 9.603409e-01 173 | L 1.770301e+02 3.420094e+01 1477010529349642 1.772606e+02 3.432617e+01 2.523629e+00 8.501189e-01 174 | R 1.804147e+02 1.887235e-01 2.511529e+00 1477010529349642 1.772606e+02 3.432617e+01 2.523629e+00 8.501189e-01 175 | L 1.801454e+02 3.514229e+01 1477010530349642 1.797995e+02 3.512887e+01 2.478827e+00 7.329486e-01 176 | R 1.830143e+02 1.950816e-01 2.477528e+00 1477010530349642 1.797995e+02 3.512887e+01 2.478827e+00 7.329486e-01 177 | L 1.825994e+02 3.575303e+01 1477010531349642 1.822925e+02 3.581136e+01 2.425154e+00 6.113383e-01 178 | R 1.856231e+02 1.966203e-01 2.441744e+00 1477010531349642 1.822925e+02 3.581136e+01 2.425154e+00 6.113383e-01 179 | L 1.847319e+02 3.651547e+01 1477010532349642 1.847302e+02 3.637004e+01 2.362264e+00 4.878767e-01 180 | R 1.883345e+02 1.931176e-01 2.201386e+00 1477010532349642 1.847302e+02 3.637004e+01 2.362264e+00 4.878767e-01 181 | L 1.869463e+02 3.694045e+01 1477010533349642 1.871027e+02 3.680395e+01 2.290172e+00 3.651451e-01 182 | R 1.909034e+02 1.947161e-01 2.410297e+00 1477010533349642 1.871027e+02 3.680395e+01 2.290172e+00 3.651451e-01 183 | L 1.894652e+02 3.740516e+01 1477010534349642 1.894007e+02 3.711471e+01 2.209278e+00 2.456228e-01 184 | R 1.933027e+02 1.923400e-01 2.217294e+00 1477010534349642 1.894007e+02 3.711471e+01 2.209278e+00 2.456228e-01 185 | L 1.917353e+02 3.756307e+01 1477010535349642 1.916151e+02 3.730640e+01 2.120375e+00 1.315915e-01 186 | R 1.952425e+02 1.912593e-01 2.103453e+00 1477010535349642 1.916151e+02 3.730640e+01 2.120375e+00 1.315915e-01 187 | L 1.934712e+02 3.727891e+01 1477010536349642 1.937378e+02 3.738535e+01 2.024621e+00 2.504525e-02 188 | R 1.971401e+02 1.909903e-01 1.968279e+00 1477010536349642 1.937378e+02 3.738535e+01 2.024621e+00 2.504525e-02 189 | L 1.959914e+02 3.739908e+01 1477010537349642 1.957622e+02 3.735980e+01 1.923487e+00 -7.238600e-02 190 | R 1.990686e+02 1.894537e-01 1.776298e+00 1477010537349642 1.957622e+02 3.735980e+01 1.923487e+00 -7.238600e-02 191 | L 1.977246e+02 3.772855e+01 1477010538349642 1.976831e+02 3.723950e+01 1.818693e+00 -1.594945e-01 192 | R 2.010726e+02 1.866010e-01 1.872312e+00 1477010538349642 1.976831e+02 3.723950e+01 1.818693e+00 -1.594945e-01 193 | L 1.992941e+02 3.728617e+01 1477010539349642 1.994972e+02 3.703531e+01 1.712115e+00 -2.355288e-01 194 | R 2.028256e+02 1.852191e-01 1.586984e+00 1477010539349642 1.994972e+02 3.703531e+01 1.712115e+00 -2.355288e-01 195 | L 2.015491e+02 3.699733e+01 1477010540349642 2.012029e+02 3.675869e+01 1.605699e+00 -3.002014e-01 196 | R 2.043960e+02 1.843601e-01 1.497659e+00 1477010540349642 2.012029e+02 3.675869e+01 1.605699e+00 -3.002014e-01 197 | L 2.029624e+02 3.645683e+01 1477010541349642 2.028011e+02 3.642125e+01 1.501370e+00 -3.536706e-01 198 | R 2.060446e+02 1.817587e-01 1.261351e+00 1477010541349642 2.028011e+02 3.642125e+01 1.501370e+00 -3.536706e-01 199 | L 2.039906e+02 3.619670e+01 1477010542349642 2.042941e+02 3.603433e+01 1.400951e+00 -3.964974e-01 200 | R 2.070150e+02 1.762321e-01 1.441483e+00 1477010542349642 2.042941e+02 3.603433e+01 1.400951e+00 -3.964974e-01 201 | -------------------------------------------------------------------------------- /data/sample-laser-radar-measurement-data-1.txt: -------------------------------------------------------------------------------- 1 | R 8.46642 0.0287602 -3.04035 1477010443399637 8.6 0.25 -3.00029 0 2 | L 8.44818 0.251553 1477010443449633 8.45 0.25 -3.00027 0 3 | R 8.57101 0.0282318 -0.0105258 1477010443499690 8.45 0.25 0 0 4 | L 8.45582 0.253997 1477010443549747 8.45 0.25 0 0 5 | R 8.42927 0.0301427 -1.85813 1477010443604698 8.35 0.25 -1.81979 0 6 | L 8.23962 0.24916 1477010443659650 8.25 0.25 -1.81978 0 7 | R 7.9351 0.0237437 -3.81077 1477010443709653 8.05 0.2 -3.99976 -0.99994 8 | L 7.84073 0.159858 1477010443759657 7.85 0.15 -3.99972 -0.99993 9 | R 7.61428 0.0204653 -3.22052 1477010443809660 7.7 0.15 -2.99982 0 10 | L 7.54016 0.159641 1477010443859663 7.55 0.15 -2.99982 0 11 | R 7.50876 0.0127032 -1.89765 1477010443914714 7.45 0.100001 -1.8165 -0.908239 12 | L 7.3426 0.0345312 1477010443969766 7.35 0.0500011 -1.81648 -0.90823 13 | R 7.20598 0.000683772 -2.79536 1477010444024741 7.2 9.49949e-07 -2.72851 -0.909507 14 | L 7.05406 -0.0533413 1477010444079717 7.05 -0.0499992 -2.72849 -0.909499 15 | R 6.74737 -0.0212224 -1.67069 1477010444134693 6.95 -0.15 -1.81898 -1.81898 16 | L 6.84972 -0.258748 1477010444189670 6.85 -0.25 -1.81896 -1.81897 17 | R 6.67866 -0.0519302 -2.02379 1477010444239651 6.75 -0.349999 -2.00076 -2.00075 18 | L 6.64329 -0.462604 1477010444289632 6.65 -0.449999 -2.00076 -2.00075 19 | R 6.63205 -0.0840904 -0.81497 1477010444339690 6.6 -0.549999 -0.998836 -1.99769 20 | L 6.56029 -0.650892 1477010444389748 6.55 -0.65 -0.99884 -1.99769 21 | R 6.46217 -0.130812 -0.356062 1477010444444769 6.5 -0.85 -0.908747 -3.63498 22 | L 6.45805 -1.05268 1477010444499791 6.45 -1.05 -0.908739 -3.63494 23 | R 6.49021 -0.179219 -1.23944 1477010444554767 6.35 -1.15 -1.81897 -1.81898 24 | L 6.25499 -1.25007 1477010444609744 6.25 -1.25 -1.81896 -1.81896 25 | R 6.59968 -0.226407 1.73835 1477010444664705 6.3 -1.45 0.909739 -3.63894 26 | L 6.36328 -1.65656 1477010444719667 6.35 -1.65 0.909727 -3.63891 27 | R 6.57796 -0.279439 -0.211523 1477010444769692 6.3 -1.8 -0.999494 -2.9985 28 | L 6.24641 -1.95075 1477010444819718 6.25 -1.95 -0.999489 -2.99847 29 | R 6.66141 -0.322252 1.75689 1477010444869719 6.3 -2.1 0.999984 -2.99994 30 | L 6.34644 -2.23829 1477010444919720 6.35 -2.25 0.999979 -2.99994 31 | R 6.76596 -0.36264 0.855484 1477010444974743 6.35 -2.4 0 -2.72613 32 | L 6.34927 -2.55175 1477010445029767 6.35 -2.55 0 -2.72611 33 | R 6.98232 -0.399959 1.89805 1477010445084742 6.4 -2.7 0.909499 -2.72851 34 | L 6.43257 -2.84245 1477010445139717 6.45 -2.85 0.909503 -2.72851 35 | R 7.12938 -0.43502 1.4149 1477010445189758 6.45 -3 0 -2.99754 36 | L 6.44119 -3.14955 1477010445239799 6.45 -3.15 0 -2.99754 37 | R 7.31886 -0.470836 2.21289 1477010445294720 6.5 -3.3 0.910402 -2.7312 38 | L 6.5453 -3.45745 1477010445349641 6.55 -3.45 0.910402 -2.7312 39 | R 7.5456 -0.49614 2.70911 1477010445404670 6.65 -3.6 1.81722 -2.72583 40 | L 6.76011 -3.75457 1477010445459700 6.75 -3.75 1.81721 -2.72581 41 | R 7.884 -0.521437 2.20619 1477010445514767 6.8 -3.9 0.907988 -2.72396 42 | L 6.85997 -4.05805 1477010445569835 6.85 -4.05 0.907976 -2.72393 43 | R 8.04387 -0.547179 2.23987 1477010445624820 6.9 -4.2 0.909334 -2.72801 44 | L 6.94332 -4.34473 1477010445679806 6.95 -4.35 0.90933 -2.72799 45 | R 8.3635 -0.567708 1.67528 1477010445734748 7 -4.45 0.910054 -1.8201 46 | L 7.04099 -4.55018 1477010445789690 7.05 -4.55 0.910054 -1.8201 47 | R 8.50541 -0.582556 2.23409 1477010445844738 7.1 -4.7 0.908302 -2.72489 48 | L 7.14735 -4.86125 1477010445899786 7.15 -4.85 0.908297 -2.72489 49 | R 8.88902 -0.604494 3.05765 1477010445954759 7.25 -5 1.81907 -2.72861 50 | L 7.30424 -5.15404 1477010446009732 7.35 -5.15 1.81907 -2.72861 51 | R 8.97814 -0.622421 2.42827 1477010446064786 7.4 -5.3 0.908194 -2.7246 52 | L 7.44737 -5.45308 1477010446119841 7.45 -5.45 0.90819 -2.72457 53 | R 9.4762 -0.63468 2.54048 1477010446174794 7.55 -5.55 1.81974 -1.81974 54 | L 7.64356 -5.66706 1477010446229748 7.65 -5.65 1.81972 -1.81972 55 | R 9.53172 -0.647271 2.40306 1477010446284703 7.7 -5.8 0.90983 -2.72951 56 | L 7.7342 -5.95374 1477010446339659 7.75 -5.95 0.909826 -2.72948 57 | R 9.89957 -0.659824 3.5853 1477010446389694 7.85 -6.1 1.9986 -2.9979 58 | L 7.95703 -6.24328 1477010446439730 7.95 -6.25 1.99858 -2.99787 59 | R 10.4099 -0.66785 2.53218 1477010446494754 8.05 -6.35 1.81738 -1.81739 60 | L 8.15891 -6.45335 1477010446549779 8.15 -6.45 1.81737 -1.81737 61 | R 10.3865 -0.678464 2.50771 1477010446604767 8.2 -6.6 0.909293 -2.72787 62 | L 8.25411 -6.74791 1477010446659755 8.25 -6.75 0.909293 -2.72787 63 | R 10.6843 -0.687607 2.70793 1477010446714702 8.35 -6.85 1.81994 -1.81993 64 | L 8.44494 -6.95805 1477010446769649 8.45 -6.95 1.81993 -1.81993 65 | R 10.9406 -0.696337 2.56416 1477010446819646 8.5 -7.1 1.00006 -3.00018 66 | L 8.54925 -7.24433 1477010446869643 8.55 -7.25 1.00006 -3.00018 67 | R 11.3727 -0.707378 3.44956 1477010446919691 8.65 -7.4 1.99807 -2.99712 68 | L 8.73559 -7.5421 1477010446969739 8.75 -7.55 1.99808 -2.99712 69 | R 11.7598 -0.716035 2.04742 1477010447024687 8.8 -7.65 0.909955 -1.8199 70 | L 8.84538 -7.75497 1477010447079636 8.85 -7.75 0.909946 -1.81988 71 | R 11.8789 -0.726017 2.80161 1477010447129681 8.9 -7.9 0.999086 -2.9973 72 | L 8.95966 -8.0381 1477010447179726 8.95 -8.05 0.999095 -2.9973 73 | R 11.9442 -0.735521 1.86678 1477010447234713 9 -8.15 0.909309 -1.8186 74 | L 9.05896 -8.24314 1477010447289701 9.05 -8.25 0.909301 -1.81859 75 | R 12.4893 -0.745345 2.79706 1477010447339681 9.1 -8.4 1.0004 -3.00119 76 | L 9.15332 -8.54857 1477010447389662 9.15 -8.55 1.00038 -3.00117 77 | R 12.6764 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10.0541 -0.0441275 1477010482899664 10.05 -0.0499992 -2.73194 0.910655 743 | R 9.89001 0.000825869 -2.58728 1477010482954714 9.9 9.49949e-07 -2.72481 0.908268 744 | L 9.75876 0.0560308 1477010483009765 9.75 0.0500011 -2.72477 0.90826 745 | R 9.63573 0.00964489 -1.81622 1477010483064783 9.65 0.100001 -1.81759 0.908784 746 | L 9.56967 0.149506 1477010483119802 9.55 0.15 -1.81757 0.908775 747 | R 9.5634 0.0155366 -2.61454 1477010483174816 9.4 0.15 -2.72659 0 748 | L 9.25348 0.150166 1477010483229830 9.25 0.15 -2.72658 0 749 | R 9.08448 0.0228764 -2.61295 1477010483284790 9.1 0.2 -2.72925 0.909752 750 | L 8.93575 0.243169 1477010483339750 8.95 0.25 -2.72926 0.909752 751 | R 8.95026 0.0295912 -2.79773 1477010483394739 8.8 0.25 -2.72783 0 752 | L 8.64483 0.254352 1477010483449729 8.65 0.25 -2.7278 0 753 | R 8.47238 0.0296451 -2.72052 1477010483504796 8.5 0.25 -2.72395 0 754 | L 8.35775 0.250149 1477010483559863 8.35 0.25 -2.72395 0 755 | R 8.28345 0.0237815 -2.75499 1477010483614752 8.2 0.2 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6.64863 -0.115431 -1.34231 1477010484364662 6.45 -0.749999 -1.81971 -3.63941 770 | L 6.36344 -0.942514 1477010484419617 6.35 -0.949999 -1.81969 -3.63937 771 | R 6.45072 -0.171362 0.516744 1477010484469697 6.35 -1.1 0 -2.99522 772 | L 6.36321 -1.25111 1477010484519778 6.35 -1.25 0 -2.99519 773 | R 6.46485 -0.219372 0.384586 1477010484574760 6.35 -1.4 0 -2.72817 774 | L 6.35537 -1.55723 1477010484629742 6.35 -1.55 0 -2.72817 775 | R 6.74008 -0.262061 0.70842 1477010484684762 6.35 -1.7 0 -2.72628 776 | L 6.35448 -1.83673 1477010484739782 6.35 -1.85 0 -2.72628 777 | R 6.70101 -0.306612 0.641725 1477010484794696 6.35 -2 0 -2.73154 778 | L 6.35078 -2.13767 1477010484849611 6.35 -2.15 0 -2.73152 779 | R 6.68883 -0.347417 0.876202 1477010484899694 6.35 -2.3 0 -2.99503 780 | L 6.33355 -2.43768 1477010484949777 6.35 -2.45 0 -2.99503 781 | R 6.81201 -0.386367 1.94865 1477010485004722 6.4 -2.6 0.909996 -2.73 782 | L 6.45623 -2.7536 1477010485059667 6.45 -2.75 0.91 -2.73 783 | R 7.01896 -0.421439 1.97259 1477010485114758 6.5 -2.9 0.907593 -2.72277 784 | L 6.54629 -3.01951 1477010485169850 6.55 -3.05 0.907584 -2.72274 785 | R 7.4891 -0.460405 1.56 1477010485224853 6.55 -3.25 0 -3.63617 786 | L 6.54763 -3.45513 1477010485279857 6.55 -3.45 0 -3.63613 787 | R 7.42685 -0.499304 2.20461 1477010485334822 6.6 -3.6 0.909673 -2.72901 788 | L 6.64571 -3.73674 1477010485389788 6.65 -3.75 0.909661 -2.72898 789 | R 7.73369 -0.519546 2.24171 1477010485444795 6.75 -3.85 1.81795 -1.81795 790 | L 6.85201 -3.93663 1477010485499803 6.85 -3.95 1.81793 -1.81793 791 | R 8.32239 -0.540957 2.69981 1477010485554749 6.9 -4.15 0.909979 -3.63994 792 | L 6.9548 -4.32855 1477010485609696 6.95 -4.35 0.909975 -3.6399 793 | R 8.30107 -0.565342 1.79442 1477010485664769 7 -4.45 0.907889 -1.81577 794 | L 7.05586 -4.55105 1477010485719843 7.05 -4.55 0.907881 -1.81576 795 | R 8.59318 -0.585948 2.51996 1477010485774801 7.1 -4.7 0.909789 -2.72935 796 | L 7.13261 -4.82718 1477010485829760 7.15 -4.85 0.909777 -2.72933 797 | R 8.84525 -0.603476 3.20216 1477010485884747 7.25 -5 1.81861 -2.72792 798 | L 7.34301 -5.14642 1477010485939735 7.35 -5.15 1.81859 -2.72789 799 | R 9.02066 -0.622827 2.45726 1477010485989735 7.4 -5.3 0.999994 -3 800 | L 7.46174 -5.44979 1477010486039735 7.45 -5.45 0.999999 -3 801 | R 9.26753 -0.633155 2.46174 1477010486094756 7.55 -5.55 1.81749 -1.81749 802 | L 7.65989 -5.6552 1477010486149778 7.65 -5.65 1.81747 -1.81747 803 | R 9.74447 -0.645201 2.28392 1477010486204747 7.7 -5.8 0.909598 -2.72881 804 | L 7.75276 -5.95823 1477010486259717 7.75 -5.95 0.909594 -2.72878 805 | R 9.84383 -0.656665 2.49108 1477010486314673 7.85 -6.05 1.81964 -1.81964 806 | L 7.95034 -6.15505 1477010486369630 7.95 -6.15 1.81962 -1.81962 807 | R 10.2229 -0.664707 3.50849 1477010486419697 8.05 -6.3 1.99731 -2.99599 808 | L 8.14855 -6.44643 1477010486469764 8.15 -6.45 1.99732 -2.99598 809 | R 10.5783 -0.673972 1.89866 1477010486524763 8.2 -6.55 0.909111 -1.81822 810 | L 8.25279 -6.64996 1477010486579762 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