jie-fei/RoboND-Kalman-EKF-MCL

C++ Code to study Kalman, Extended Kalman Filters, and Monte Carlo localization algorithm

Kalman & Extended Kalman filters

See source code in src folder.

RoboND-MCL-Lab

You will be able to observe the MCL in action through the generated images.

Editing the Program:

Enter the code in the designated section:

//####   DON'T MODIFY ANYTHING ABOVE HERE! ENTER CODE BELOW ####
		
//Graph the position of the robot and the particles at each step 

Compiling the Program:

$ git clone https://github.com/udacity/RoboND-MCL-Lab
$ cd RoboND-MCL-Lab/
$ rm Images/*
$ g++ main.cpp -o app -std=c++11 -I/usr/include/python2.7 -lpython2.7

Running the Program:

Before you run the program, make sure the Images folder is empty!

$ ./app

Wait for the program to iterate 50 times.

Generated Images:

After running the program, 50 images will be generated in the Images folder.

Step0:

Step49: