Q2 Consider the following Bayesian filter equation Bel (xt) = n p(2+[X) Sp(x+|Xt-1,4-)Bel (x2-1)dxx-1, (a) Explain the derivation process of a Particle Filter Localization algorithm from the Bayesian filter equation. Analyze the derivation process. (10 marks) (b) Develop python code for Particle-filter localization algorithm. Explain the function for each line of the code. (10 mark) Q2 Consider the following Bayesian filter equation Bel (xt) = n p(2+[X) Sp(x+|Xt-1,4-)Bel (x2-1)dxx-1, (a) Explain the derivation process of a Particle Filter Localization algorithm from the Bayesian filter equation. Analyze the derivation process. (10 marks) (b) Develop python code for Particle-filter localization algorithm. Explain the function for each line of the code. (10 mark)