Code is here: https://github.com/AtsushiSakai/PythonRobotics/blob/master/SLAM/FastSLAM2/fast_slam2.py
Repository is here: https://github.com/AtsushiSakai/PythonRobotics
Official Document is here: https://atsushisakai.github.io/PythonRobotics/
This is a feature based SLAM example using FastSLAM 2.0.
The blue line is ground truth, the black line is dead reckoning, the red line is the estimated trajectory with FastSLAM.
The red points are particles of FastSLAM.
Black points are landmarks, blue crosses are estimated landmark positions by FastSLAM.