In the class, we have covered three filtering algorithms: histogram filter, particle filter, and Kalman

filter. Choose a suitable filtering algorithm for each task below. Justify your choice and if needed,

state your assumptions.

$($a$)(2$ Points$)$ A self$-$driving car tracks its lateral position w$.$r$.$t$.$ the center of the lane. It processes

the the front$-$view camera images to detect lanes.

$($b$)(2$ Points$)$ A self$-$driving car wants to merge into a neighbouring lane. It monitors a human$-$

driven vehicle in the target lane to decide on the suitable actions. It assumes that the human

driver's intention may be DECELERATE or ACCELERATE, i$.$e$.,$ to give way or not to give way,

respecively. The self$-$driving car tries to infer the human's intention according to the observed

vehicle behavior.

$($c$)(2$ Points$)$ One robot Spot is lost in COM$3.$ It tries to re$-$localize itself on a COM$3$ map, using

$2$D LIDAR readings.