Kidnapped Vehicle

Localization of a kidnapped vehicle using Particle filter.

Overview

This project is part of Udacity's Self-Driving Car Nanodegree program. A 2-dimensional Particle filter has been implemented in this project, where sensor and control measurements of a simulated car are used to predict its location. An initial GPS location is provided by the simulator, after which the vehicle relies on the filter to localize itself.

A simulator provided by Udacity is used to generate and visualise measurements and motion of a car. More information on installation and usage of the simulator with the executable can be found in the seed-project setup by Udacity here.

Dependencies

1. CMake >= 3.5
2. Make >= 4.1
3. Eigen 3.3.5
4. gcc/g++ >= 4.1
5. uWebSockets

Build and Run Instructions

1. From the parent directory, create the build

sh clean.sh
sh build.sh

2. Launch the simulator
3. Run the Particle filter executable

sh run.sh