Jean Triboulet
36
Documents
Presentation
Associate Professor (HDR-PhD) Vision for Robotics, Sensors, Image Processing, Manager of University degree in Vision for Industrial Robotics
The main theme of my research activities is vision for robotics, working on teleoperated robotics projects, mobile robotics, medical robotics, and finally underwater robotics, as an associate professor.
- Mobile Robotics: On a mobile base equipped with low level cameras mounted vertically, vision work led to the robust calibration of rough sensors, and then on the mapping of reliable visual targets (segments) by methods different than those based on the epipolar constraint.
- Medical Robotics: Robotic assisted heart surgery is the main topic of this work. First by working on methods using natural landmarks (textures) in rapid stereoscopic vision to reconstruct the 3D position of the cardiac surface in order to guide a robotic system assisting the surgeon in his surgical procedure. This same problem of assistance to the surgical gesture is found in the analysis of ultrasound images where the vision must follow the movement of a mitral valve and jointly guide the movement of an instrument visible in the same image.
- Characterization of sensors: always in this context of medical robotics, the instrumentation of an ultrasound probe with a force sensor, allows coupling a vision / force measurement to refine the diagnosis and the pathological follow-up in the context of cardiovascular diseases.
- Underwater robotics: Exchanges with fellow historians who have worked on excavations in the Rhone, the idea of a multimodal fusion between sonographic topographic survey and 3D survey of an area of interest in sonar mapping by means of an immersive stereoscopic sensor and 3D reconstruction methods that are robust to the constraints imposed by this medium.
- Recently, KARST project aims at conceiving, designing and engineering an intelligent and practical robotic system to explore/inspect underwater confined environment. As generic case studies, the project focuses on karst exploration and hydraulic galleries inspections. The difficulty of karstic environment lies in the subaquatic condition, the confinement and its chaotic morphology. On the other hand, this omnipresent and contrasted environment offers lot information for autonomous navigation. We are working on a stereovision system able to reconstruct in 3D the cave environment useful for the robot.
Publications
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3D underwater reconstruction of archeology object with a mono camera camcorder: The case study at Gourneyras lakeOCEANS, Jun 2017, Aberdeen, United Kingdom. pp.1-6, ⟨10.1109/OCEANSE.2017.8084978⟩
Conference papers
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Evaluation of underwater 3D reconstruction methods for Archaeological Objects: Case study of Anchor at Mediterranean SeaICCAR: International Conference on Control, Automation and Robotics, Apr 2017, Nagoya, Japan. pp.394-398, ⟨10.1109/ICCAR.2017.7942725⟩
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Evaluation of lower limb vein biomechanical properties and the effects of compression stockings, with an instrumented ultrasound probeEMBC: Engineering in Medicine and Biology Conference, 2014, Chicago, United States. pp.74-77, ⟨10.1109/EMBC.2014.6943532⟩
Conference papers
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Possibility of non-invasive blood pressure estimation by measurements of force and arteries diameterBHI: Biomedical and Health Informatics, Jun 2014, Valencia, Spain
Conference papers
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Comparative Study of Two 3D Reconstruction Methods for Underwater ArchaeologyIROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal
Conference papers
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Highly Specific Pose Estimation with a Catadioptric Omnidirectional CameraIST'10: International Conference on Imaging Systems and Techniques, Jul 2010, Thessalonique, Greece. pp.229-233
Conference papers
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A Camcorder for 3D Underwater Reconstruction of Archeological ObjectsOCEANS, Sep 2010, Seattle, WA, United States. ⟨10.1109/OCEANS.2010.5664572⟩
Conference papers
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Diameter and blood pressure estimation in arteries using an echographic instrumented probeESSR: European Society for Surgical Research, May 2009, Nimes, France
Conference papers
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Suivi de coeur battant par analyse de textureSURGETICA, 2007, Chambéry, France. pp.403-407
Conference papers
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Efficient tracking of the heart using texture29th Annual International Conference of the IEEE EMBS, pp.4480-4483
Conference papers
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Suivi de Coeur Battant : Tracking 2D et 3D utilisant la TextureCORESA: COmpression et REprésentation des Signaux Audiovisuels, Nov 2007, Montpellier, France. pp.43-47
Conference papers
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Mesure d' effort et de diamètre d'artères4ème Colloque Interdisciplinaire en Instrumentation C2I, Oct 2007, Nancy, pp.001-008
Conference papers
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Stereo-Vision for 3D Tracking of the Beating HeartSURGETICA, 2007, Chambery, France
Conference papers
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Evaluation of the Influence of Probe Pressure on the B-Mode Ultrasound Measurement of Arterial DiameterEMBC: Engineering in Medicine and Biology Conference, Aug 2006, New York, United States. pp.3831-3835, ⟨10.1109/IEMBS.2006.260219⟩
Conference papers
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Texture Features Selection for Visual Servoing of the Beating HeartBioRob 2006 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb 2006, Pisa, Italy. pp.335-340, ⟨10.1109/BIOROB.2006.1639109⟩
Conference papers
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Composite visual tracking of the moving heart using texture characterizationMedical Robotics Workshop (MICCAI'06), Oct 2006, pp.6
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3D Heart Motion Estimation Using Endoscopic Monocular Vision SystemMCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146
Conference papers
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Mitral Valve Leaflet Motion Tracking in Ultrasound ImagesSURGETICA, Jan 2005, Chambéry, France. pp.237-244
Conference papers
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New Color Features for In-Door Image ProcessingSETIT'04: Sciences of ElectronicTechnology of Informations and Telecommunications, Mar 2004, Sousse, Tunisia. pp.7
Conference papers
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A Skeleton Based Method for 3d Free-Form Object RecognitionIMG: Intelligent Manipulation and Grasping, Jul 2004, Genova, Italy. pp.593-598
Conference papers
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Méthode Robuste de Squelettisation par Carte de Distances et Diagramme de VoronoïSETIT'04: Sciences of Electronic, Technology of Informations and Telecommunications, Mar 2004, Sousse (Tunisie), pp.7
Conference papers
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Geometrical and Physical Models of a 3D Range Finder1st IEEE International Conference on Sensors, Jun 2002, Orlando, United States
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Matching stereoscopic segments: comparison between epipolar, bayesian, and neuronals approaches12th International Symposium on Measurement and Control in Robotics, Jun 2002, Bourges, France
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A new method for matching segments in stereoscopic visionVIMS: Virtual and Intelligent Measurement Systems, Apr 2000, Annapolis, United States. pp.134-140
Conference papers
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Geometrical and physical modeling of 3D system using a range finder and cameraIFIP WG7.6 Working Conference, May 1996, Noisy le grand, France
Conference papers
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Dispositif de mesures biomecaniques des vaisseaux et d'analyse volumetrique des membresFrance, N° de brevet: WO 2017005642 A1. 2017
Patents
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ANGIOSPAN2017
Software
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PULSART : Echographic Image Analysis for Arterial Diameter Estimation.2013
Software
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