In this project, I implemented the Unscented Kalman filter in C++. Simulated lidar and radar measurements were used to detect a car that travels around a vehicle. The Kalman filter, lidar measurements and radar measurements were used to track the car's position and velocity. The RMSE was calculate to check how well the filter performs. Compared to the extended Kalman filter, the unscented version provides a significant improvement in the velocity measurements. You can check out the other videos I produced on my Youtube channel. You can also checkout my code on my GitHub page .