Implemented a particle filter for kidnapped vehicle.

View the Project on GitHub

Kidnapped Vehicle Localization with a Particle Filter


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.

Demo: Vehicle Localization (click to see the full video)


Demo Explanation:

Code & Files

1. Dependencies & environment

2. How to run the code

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

3. My project files

(Note: the hyperlinks only works if you are on the homepage of this GitHub reop, and if you are viewing it in “” you can be redirected by clicking the View the Project on GitHub on the top)

4. Code Style

5. Release History

System overview