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Table 3 The specification of Raspberry Pi 2

From: An intelligible implementation of FastSLAM2.0 on a low-power embedded architecture

Raspberry Pi 2
Processor 900 MHz 32-bit Quad-core ARM Cortex-A7
RAM 1 GB (shared with GPU)
USB ports 4 USB 2.0
GPU Broadcom VideoCore IV @ 250 MHz
Model B