This repository contains all the code needed to complete the final project for the Localization course in Udacity's Self-Driving Car Nanodegree.
Your robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data.
In this project a 2D particle filter in implemented in C++. The particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step the filter will also get observation and control data.
At t=0 the filter is initialized. Then, each subsequant cycle will: predict the new positions and heading for each particle update weights of each particle resample the particles
This project involves the Term 2 Simulator which can be downloaded here
./build.sh
./run.sh
Tips for setting up your environment can be found here
Test support is added to the project. Test are not extensive yet. To run them:
./build.sh
./test.sh