@phdthesis{Ber:2009:472088,
    author = {Cyrille Berger},
    title = {{Perception de la g\'eom\'etrie de l'environment pour la navigation autonome}},
    year = {2009},
    publisher = {Universit\'e de Toulouse},
    school = {Link"opings universitet},
    institution = {Link"opings universitet, Department of Computer and Information Science},
}