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:
mkdir build
cd build
cmake ../src/
make
./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.