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.
type: Dataset
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.
identifier: NNT: 2011CLF22183
issued: 2026-05-18T23:55:28.783641
language: fr
modified: 2026-05-18T23:55:28.783655
contact point: Organization
  fn: CCSD
keyword: capteur-rotatif
keyword: data-distortion
keyword: data-fusion
keyword: detection-and-tracking-of-moving-objects
keyword: detection-et-pistage-dobjets
keyword: distorsion-de-donnees
keyword: evaluation-techniques
keyword: fusion-de-donnees
keyword: imagerie
keyword: imagery
keyword: infoeu-reposemanticsdoctoralthesis
keyword: methode-devaluation
keyword: mobile-robotic
keyword: multi-sensory-perception
keyword: panoramic-radar
keyword: perception-multi-sensorielle
keyword: radar-panoramique
keyword: reconstruction-de-trajectoire
keyword: robotique-mobile
keyword: rotating-range-sensor
keyword: signal-and-image-processing
keyword: spiotherengineering-sciences-physicsother
keyword: theses
keyword: traitement-du-signal-et-de-limage
keyword: trajectory-reconstruction
landing page: https://theses.hal.science/tel-00659270

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.
type: Distribution
format: HTML
issued: 2026-05-18T23:55:28.810150
modified: 2026-05-18T23:55:28.688965
access URL: https://theses.hal.science/tel-00659270

test_moissonnage_selune
type: Agent