Particle filter motion detector on an occupancy grid

Implemented as a catkin package for the Robot Operating System.

G. Tanzmeister, J. Thomas, D. Wollherr and M. Buss, "Grid-based mapping and tracking in dynamic environments using a uniform evidential environment representation," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 6090-6095. doi: 10.1109/ICRA.2014.6907756 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907756&isnumber=6906581

R. Danescu, F. Oniga and S. Nedevschi, "Modeling and Tracking the Driving Environment With a Particle-Based Occupancy Grid," in IEEE Transactions on Intelligent Transportation Systems, vol. 12, no. 4, pp. 1331-1342, Dec. 2011. doi: 10.1109/TITS.2011.2158097 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5941005&isnumber=6082048