waterwheel31/carnd-kidnapped-vehicle-project

Particle Filter to locate vehicle position. This is a project of Udacity Self Driving Car Naondegree

Kidnap Vehicle Project

Objective

• Locate current position of own vehicle from following data
  • landmarks on map
  • observations of the landmarks from the vehicle

Approach

• Use "Particle Filter" to locate (used 50 partilces)

Results

• The filter locates the position with limited errors
• See the gif image above (blue circle shows the estimated vehicle position)

How to Run

• This uses a Unity enviornment on Udacity VM. THerefore, to run, first need to prepare the enviornment by doing (TBD)
• Then run following codes
  • ./install-ubuntu.sh
  • mkdir build & cd build
  • cmake .. & make
  • ./particle_filter