Particle Filter

This project is based on the template code within the scope of the localization course in Udacity Self-Driving Car Nanodegree.

Project Introduction

A 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 two-dimensional particle filter is 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 your filter will also get observation and control data.

Running the Code

1. Download Term 2 Simulator here and launch it.
2. Install uWebSocketIO:

• This repository includes two bash files for installing uWebSocketIO on Linux or Mac systems.
• For Windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

3. Navigate to root cd particle_filters
4. Build

$ mkdir build && cd build
$ cmake .. && make
$ ./particle_filter

Alternatively, run:

$ ./clean.sh
$ ./build.sh
$ ./run.sh

Structure

.particle_filters           # project root
|   build.sh
|   clean.sh
|   CMakeLists.txt
|   README.md
|   run.sh
|
|___data                    # map data input to the filter
|   |   map_data.txt
|___src
    |   helper_functions.h
    |   main.cpp
    |   map.h
    |   particle_filter.cpp
    |   particle_filter.h

map_data.txt has three columns [x, y, landmark_id].