Kidnapped Vehicle Localization with a Particle Filter

Objective

The Vehicle has been “kidnapped” and transported to a new location! Luckily it has a map of this location and a (noisy) GPS estimate of its initial location. Then the vehicle starts to move, in the meanwhile, it records the noisy sensor and control data. A real-time particle filter is implemented to localize the vehicle with the sensor data.

In this project, particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step my filter will also get observation and control data.

System Explanation:

• Inputs:
  • one map contains landmarks
  • one initial location (e.g GPS) in the very beginning with big uncertainty.
  • noisy landmark observations in each timestamp while vehicle is moving.
• Outputs:
  • The blue circle (with an black arrow inside) is the real-time estimation of the vehicle’s location and heading orientation from the particle filter.
• Ground truth:
  • The blue car is the ground truth of the vehicle, including position and heading orientation. It is only visualized for comparison purpose.

Code & Files

1. Dependencies & environment

• cmake >= 3.5
• make >= 4.1
• gcc/g++ >= 5.4
• uWebSockets: used for communication between the main code and the simulator.

2. How to run the code

1. Clone this repo.
2. Clean the project: $./clean.sh
3. Build the project: $./build.sh
4. Run the project: $./run.sh
5. Start the simulator v1.45, select the Kidnaped Vehicle, and click start.

3. My project files

• CMakeLists.txt is the cmake file.
• data folder contains sensor measurements, example images, GIF.
• src folder contains the source code.
• clean.sh cleans the project.
• build.sh builds the project.
• run.sh runs the project.
• install-mac install uWebSockets in Mac.
• install-ubuntu install uWebSockets in Ubuntu.

4. Code Style

• Google’s C++ style guide.

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System overview