/carnd_t2_p3

Particle filter

Primary LanguageC++MIT LicenseMIT

Overview

The goal of the project is to implement a 2D Particle Filter for estimating the position of a vehicle using the noisy sensor measurements.

This project should be run in the Simulator which can be downloaded here

Cmake is used as a build system for the project. In order to compile the code:

  1. mkdir build
  2. cd build
  3. cmake ../src/
  4. make
  5. ./particle_filter

Important Dependencies

The project has been tested / run on Ubuntu.

  • cmake >= 3.5
  • make >= 4.1 (Linux, Mac),
  • gcc/g++ >= 5.4

Particle filter bird's-eye-view:

  • particle initialization around the measurement;
  • predicting particle movement using CTRV model;
  • associating sensor measurements with map landmarks;
  • updating particle weights based on observations;
  • re-sampling with replacement depending the particle weights.