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Robot Localization with Particle Filter and C++

In the 8’th project from the Self-Driving Car engineer program designed by Udacity, we implemented a 2 dimensional 3DOF particle filter in C++ to localize our vehicle in a known map. Our vehicle starts in an unknown location and using the particle filter approach we need to determine where our vehicle is. The particle filter[…]

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Object tracking with LIDAR, Radar, sensor fusion and Extended Kalman Filter

In the 6’th project from the Self-Driving Car engineer program designed by Udacity, we will utilize an Extended Kalman Filter to estimate the state of a moving object of interest with noisy LIDAR and Radar measurements. This post builds up starting with a very simple Kalman Filter implementation for the 1D motion smoothing, to a complex[…]