El trabajo femenino en la cocina y la panadería de un hospital sevillano del Antiguo Régimen

En las economías preindustriales, el trabajo femenino estuvo presente activamente en la economía urbana, desempeñando un sinfín de actividades sobre todo domésticas en ámbitos privados e institucionales. Criadas, cocineras, panaderas y lavanderas pululaban las ciudades porque estos oficios eran principales medios de subsistencia femenina. En el ámbito institucional como los hospitales destacaron las cocineras y panaderas. Este artículo trata sobre las mujeres que trabajaron en la cocina y panadería del hospital de las Cinco Llagas de Sevilla en el Antiguo Régimen. En el proceso de la alimentación en este hospital intervinieron muchas personas, entre ellas la madre mayor, las cocineras y las panaderas.

Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.