Compute Lidar-based TTC

FP.2 : Compute Lidar-based TTC

In this part of the final project, your task is to compute the time-to-collision for all matched 3D objects based on Lidar measurements alone. Please take a look at the second lesson of this course to revisit the theory behind TTC estimation. Also, please implement the estimation in a way that makes it robust against outliers which might be way too close and thus lead to faulty estimates of the TTC. Please return your TCC to the main function at the end of computeTTCLidar.

The task is complete once the code is functional and returns the specified output. Also, the code is able to deal with outlier Lidar points in a statistically robust way to avoid severe estimation errors.