/Kidnapped-Vehicle

Localization of a vehicle using Particle filter

Primary LanguageC++MIT LicenseMIT

Kidnapped Vehicle

Localization of a kidnapped vehicle using Particle filter.

Overview

This project is part of Udacity's Self-Driving Car Nanodegree program. A 2-dimensional Particle filter has been implemented in this project, where sensor and control measurements of a simulated car are used to predict its location. An initial GPS location is provided by the simulator, after which the vehicle relies on the filter to localize itself.

A simulator provided by Udacity is used to generate and visualise measurements and motion of a car. More information on installation and usage of the simulator with the executable can be found in the seed-project setup by Udacity here.

Dependencies

  1. CMake >= 3.5
  2. Make >= 4.1
  3. Eigen 3.3.5
  4. gcc/g++ >= 4.1
  5. uWebSockets

Build and Run Instructions

  1. From the parent directory, create the build
sh clean.sh
sh build.sh
  1. Launch the simulator
  2. Run the Particle filter executable
sh run.sh