SLAM_main.py            -- Main code which implements the workflow of SLAM, from dead reckoning to prediction to update.
SLAM_helper.py          -- Implementations of classes for Particles, Map, and Sensor Data 
p2_utils.py             -- Implementation of the Bresenham's Line Tracing Algorithm and Map Correlation Function for Particle Filter Update.
load_data.py            -- Code used to load data from the LIDAR sensor and the IMU Sensor