Localization of a kidnapped vehicle using Particle filter.
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.
- CMake >= 3.5
- Make >= 4.1
- Eigen 3.3.5
- gcc/g++ >= 4.1
- uWebSockets
- From the parent directory, create the build
sh clean.sh
sh build.sh
- Launch the simulator
- Run the Particle filter executable
sh run.sh