philbort/udacity_self_driving_car

Projects from Udacity Self Driving Car Nanodegree

Udacity Self-Driving Car Nanodegree

This repository contains all the projects I have completed for the Self-Driving Car Nanodegree offered by Udacity. There are over 11,000 people applied for this Nanodegree progam and I was selected as one of the 500 students for the very first cohort started in October 2016. The curriculum of this program consists of three terms over nine months. This repository will be updated with my progress accordingly.

Term 1: Computer Vision and Deep Learning

#	Title	Solution	Techniques	Libraries	Dataset
1	Finding Lane Lines	Python	Color Space Conversion, Canny Edge Detection, Hough Transformation	OpenCV, MoviePy	Udacity
-	TensorFlow Lab	Python	Neural Network, Min-Max Scaling	TensorFlow, Scikit-Learn, tqdm	notMNIST
2	Traffic Sign Classifier	Python	Convolutional Neural Network, Relu, Pooling, Dropout, Regularization	TensorFlow, Scikit-Learn	German Traffic Sign Dataset
-	Keras Lab	Python	Keras Models, Keras Layers	Keras	German Traffic Sign Dataset
-	AlexNet Lab	Python	Transfer Learning, AlexNet	Tensorflow, Scikit-Learn	German Traffic Sign Dataset
-	Transfer Learning Lab	Python	Transfer Learning, VGG, ResNet, GoogLeNet	Tensorflow, Keras	German Traffic Sign Dataset, CIFAR-10
3	Behavioral Cloning	Python	End-to-End Learning	Keras, JSON, Pandas	Udacity Simulator
4	Advanced Lane Finding	Python	Camera Calibration, Perspective Transformation, Sobel Operator, Color Conversion, Image Thresholding	OpenCV	Images, Videos
5	Vehicle Detection	Python	Template Matching, Color Histogram, HOG, LinearSVC, Heatmap	OpenCV, Scikit-Learn, Skimage, Scipy, MoviePy	Images, Video

Term 2: Sensor Fusion, Localization, and Control

#	Title	Solution	Techniques	Libraries	Dataset
-	Kalman Filter Lab	Python	Kalman Filter	N/A	N/A
1	Extended Kalman Filter	C++	Kalman Filter, Extended Kalman Filter, Lidar, Radar	Eigen	Laser & Radar
2	Unscented Kalman Filter	C++	Kalman Filter, Unscented Kalman Filter, Lidar, Radar	Eigen	Laser & Radar
-	Bayesian Filter Lab	C++	Bayes' Theorem, Law of Total Probability, Markov Chain, Hidden Markov Model, Bayesian Filter	N/A	N/A
-	Particle Filter Lab	Python	Particle Filter, Importance Sampling, Resampling Wheel	Robot	N/A
3	Particle Filter	C++	Markov Localization & Bayes Filtering, Particle Filter	N/A	Map, Control, Observation
-	PID Controller Lab	Python	PID Controller, Coordinate Descent	Robot	N/A
4	PID Controller	C++	PID Controller	N/A	Udacity Simulator
-	MPC Lab	C++	Model Predictive Control, Kinematic Model, Polynominal	Eigen, Ipopt, CppAD	N/A
5	Model Predictive Control	C++	Model Predictive Control	Eigen, Ipopt, CppAD, uWebSockets	Udacity Simulator

Term 3: Path Planning and Elective