Self-Driving Car Engineer Nanodegree
https://www.udacity.com/course/self-driving-car-engineer-nanodegree--nd013
Go to the Udacity workspace of the project "Scan Matching Localization" of the Lesson 3 "Localization" of the Self-Driving Car Engineer Nanodegree.
Copy the contents of the file code/c3-main.cpp into the file /home/workspace/c3-project/c3-main.cpp in the Udacity workspace of the project "Scan Matching Localization". You can do it by copying and pasting the contents of the file code/c3-main.cpp .
Press the blue button "Desktop". Start one terminal. Run the Carla simulator by using these Unix commands:
su - student # Ignore Permission Denied, if you see student@ you are good
cd /home/workspace/c3-project
./run_carla.sh
Start another terminal. Compile the project by using these Unix commands:
cd /home/workspace/c3-project
cmake .
make
Run the project with the NDT algorithm by using Unix command:
./cloud_loc
Or run the project with the ICP algorithm by using Unix command:
./cloud_loc 2
Once the project is running, click on the map and tap the UP key 3 times, with delays of 1 second between taps. If the green car gets left behind, run the project again and tap the UP key 3 times again. The second run or the third run usually produce better results than the results of the first run. IMPORTANT: Never stop the Carla simulator.
Scan Matching Localization with LIDAR Point Clouds - Algorithm 1: Normal Distributions Transform NDT
https://youtu.be/EOKKcwuBtzo
Scan Matching Localization with LIDAR Point Clouds - Algorithm 2: Iterative Closest Point (ICP)
https://www.youtube.com/watch?v=hZeZAm4jvW4
