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• Gritsenko, Pavel S.; Gritsenko, Igor S.; Seidakhmet, Askar Zh.; Abduraimov, Azizbek E. 2017-09-01 In this article, we will present a methodology to debug RGB-D SLAM systems as well as to generate testing data. We have created a model of a laboratory with an area of 250 m2 (25 × 10) with set of objects of different type. V- REP Microsoft Kinect sensor simulation model was used as a basis for robot vision system. Motion path of the sensor model has multiple loops.

We have written a program in V- Rep native language Lua to record data array from the Microsoft Kinect sensor model. The array includes both RGB and Depth streams with full resolution (640 × 480) for every 10 cm of the path. The simulated path has absolute accuracy, since it is a simulation, and is represented by an array of transformation matrices (4 × 4). The length of the data array is 1000 steps or 100 m. The path simulates frequently occurring cases in SLAM, including loops.

It is worth noting that the path was modeled for a mobile robot and it is represented by a 2D path parallel to the floor at a height of 40 cm. • Carlos Uribe Celis 2013-01-01 Full Text Available Este ensayo traza el recorrido hist rico de la Rep blica de Colombia como la visualiz, la program y le dio vida el Libertador Sim n Bol var. La Rep blica de Colombia de Bol var era la uni n de lo que despu s constituyeron tres rep blicas distintas, hoy conocidas como Venezuela, Colombia y Ecuador. Bol var aprovecha parcialmente una idea original de Miranda (la Colombeia del sue o continental del?recursor?, y este ensayo ilustra la con?guraci n del proyecto bolivariano, desde sus comienzos ajenos hasta la disoluci n del mismo, lo que pr cticamente coincide con la muerte del Libertador. La historia de Colombia se ubica aqu en el contexto de la lucha bolivariana por la Independencia del norte y centro de Suram rica. • Lima A.S.G. 2002-01-01 Full Text Available PCR has been used to analyze the distribution of REP (Repetitive Extragenic Palindromic and ERIC (Enterobacterial Repetitive Intergenic Consensus sequences ( rep-PCR found within the genome of the bacterium Bacillus thuringiensis, with the purpose to analyze the genetic similarities among 56 subspecies samples and 95 field isolates.

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