In this project, a 2 dimensional particle filter was implemented in C++ capable of localizing a vehicle within desired accuracy and time. The particle filter is given a map and some initial localization information (analogous to what a GPS would provide). At each time step, the filter gets observation and control data. The simulation on the right shows the best particle's sensed positions, and the vehicle is localized based on the map and landmarks data. You can check out the other videos I produced on my Youtube channel. You can also checkout my code on my GitHub page .