@prefix dcat: <http://www.w3.org/ns/dcat#> .
@prefix dct: <http://purl.org/dc/terms/> .
@prefix foaf: <http://xmlns.com/foaf/0.1/> .
@prefix vcard: <http://www.w3.org/2006/vcard/ns#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00659270v2> a dcat:Dataset ;
    dct:description """
              In outdoor robotic context, notion of perception and localization is essential for an autonomous navigation of a mobile robot. The objectives of this PhD are multiple and tend to develop a simultaneous localization and mapping approach in a dynamic outdoor environment with detection and tracking of moving objects (SLAMMOT) with a unique exteroceptive radar sensor in real driving conditions, around 30 km/h. At such high speed, data obtained with a rotating range sensor are corrupted by the own vehicle displacement. This distortion, usually considered as a disturbance, is analyzed here as a source of information. This study explores radar frequency modulated continuous wave (FMCW) technology potential for mobile robotics in extended outdoor environment. In this work, we propose : – a distortion correction on-the-fly with proprioceptive sensors in order to realize a localization and mapping application (SLAM), – a line based SLAM evaluation method, – a consideration of distortion in a proprioceptive purpose for localization and mapping, – an odometry principle based on Doppler velocimetry provided by radar sensor, – a detection and tracking of mobile objects : DATMO, with a unique radar sensor.
            """ ;
    dct:identifier "NNT: 2011CLF22183" ;
    dct:issued "2026-05-18T23:55:28.783641"^^xsd:dateTime ;
    dct:language "fr" ;
    dct:modified "2026-05-18T23:55:28.783655"^^xsd:dateTime ;
    dct:publisher <https://rec.harvest-normandie.data4citizen.com/organization/cce9db95-46d9-4dc2-84b6-764215d0a002> ;
    dct:title "Perception of the environment with a hyper-frequency radar. Application to simultaneous localization and mapping, to detection and tracking of moving objects in outdoor environment." ;
    dcat:contactPoint [ a vcard:Organization ;
            vcard:fn "CCSD" ] ;
    dcat:distribution <https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00659270v2/resource/3075ba18-5d83-46c0-9f39-26355206f7f9> ;
    dcat:keyword "capteur-rotatif",
        "data-distortion",
        "data-fusion",
        "detection-and-tracking-of-moving-objects",
        "detection-et-pistage-dobjets",
        "distorsion-de-donnees",
        "evaluation-techniques",
        "fusion-de-donnees",
        "imagerie",
        "imagery",
        "infoeu-reposemanticsdoctoralthesis",
        "methode-devaluation",
        "mobile-robotic",
        "multi-sensory-perception",
        "panoramic-radar",
        "perception-multi-sensorielle",
        "radar-panoramique",
        "reconstruction-de-trajectoire",
        "robotique-mobile",
        "rotating-range-sensor",
        "signal-and-image-processing",
        "spiotherengineering-sciences-physicsother",
        "theses",
        "traitement-du-signal-et-de-limage",
        "trajectory-reconstruction" ;
    dcat:landingPage <https://theses.hal.science/tel-00659270> .

<https://rec.harvest-normandie.data4citizen.com/dataset/oai-hal-tel-00659270v2/resource/3075ba18-5d83-46c0-9f39-26355206f7f9> a dcat:Distribution ;
    dct:format "HTML" ;
    dct:issued "2026-05-18T23:55:28.810150"^^xsd:dateTime ;
    dct:modified "2026-05-18T23:55:28.688965"^^xsd:dateTime ;
    dct:title "Perception of the environment with a hyper-frequency radar. Application to simultaneous localization and mapping, to detection and tracking of moving objects in outdoor environment." ;
    dcat:accessURL <https://theses.hal.science/tel-00659270> .

<https://rec.harvest-normandie.data4citizen.com/organization/cce9db95-46d9-4dc2-84b6-764215d0a002> a foaf:Agent ;
    foaf:name "test_moissonnage_selune" .

<https://theses.hal.science/tel-00659270> a foaf:Document .