Scan Matching Localization

In this project my goal is to localize a car driving in simulation for at least 170m from the starting position and never exceeding a distance pose error of 1.2m. The simulation car is equipped with a lidar, provided by the simulator at regular intervals are lidar scans. There is also a point cloud map already available, and by using point registration matching between the map and scans localization for the car can be accomplished.