
Jean Triboulet
42
Documents
Présentation
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.
- 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.
- 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.
- 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.
- 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.
Domaines de recherche
Traitement du signal et de l'image [eess.SP]
Compétences
Image Processing, 3D vision, Sensors for Robotics Applications : Medical, Underwater, Biology
Publications
Publications
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Sensor-based Behavior Analysis and Modeling for the Honeybee Superorganism: a PlatformMMSP 2023 - IEEE 25th International Workshop on Multimedia Signal Processing, Sep 2023, Poitiers, France. ⟨10.1109/MMSP59012.2023.10337708⟩
Communication dans un congrès
hal-04205287
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An original 3D reconstruction method using a conical light and a camera in underwater cavesICCCV 2021 - 4th International Conference on Control and Computer Vision, Aug 2021, Macau, China. pp.126-134, ⟨10.1145/3484274.3484294⟩
Communication dans un congrès
hal-04059700
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Contour-based approach for 3D mapping of underwater galleriesOCEANS 2020, Oct 2020, Biloxi, MS, Singapore. pp.1-6, ⟨10.1109/IEEECONF38699.2020.9388982⟩
Communication dans un congrès
hal-04059706
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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⟩
Communication dans un congrès
lirmm-02018544
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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⟩
Communication dans un congrès
lirmm-01596167
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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
Communication dans un congrès
lirmm-01007425
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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⟩
Communication dans un congrès
lirmm-01596155
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Comparative Study of Two 3D Reconstruction Methods for Underwater ArchaeologyIROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal
Communication dans un congrès
lirmm-00745214
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A Camcorder for 3D Underwater Reconstruction of Archeological ObjectsOCEANS, Sep 2010, Seattle, WA, United States. ⟨10.1109/OCEANS.2010.5664572⟩
Communication dans un congrès
lirmm-00523974
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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
Communication dans un congrès
lirmm-00564713
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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
Communication dans un congrès
lirmm-01596157
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Suivi de coeur battant par analyse de textureSURGETICA, 2007, Chambéry, France. pp.403-407
Communication dans un congrès
lirmm-00189791
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Efficient tracking of the heart using texture29th Annual International Conference of the IEEE EMBS, pp.4480-4483
Communication dans un congrès
lirmm-00189695
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Mesure d' effort et de diamètre d'artères4ème Colloque Interdisciplinaire en Instrumentation C2I, Oct 2007, Nancy, pp.001-008
Communication dans un congrès
lirmm-00364676
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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
Communication dans un congrès
lirmm-00186884
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Stereo-Vision for 3D Tracking of the Beating HeartSURGETICA, 2007, Chambery, France
Communication dans un congrès
lirmm-01596160
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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⟩
Communication dans un congrès
lirmm-00098402
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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⟩
Communication dans un congrès
lirmm-00102762
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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
Communication dans un congrès
lirmm-00100317
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Composite visual tracking of the moving heart using texture characterizationMedical Robotics Workshop (MICCAI'06), Oct 2006, pp.6
Communication dans un congrès
lirmm-00125463
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Mitral Valve Leaflet Motion Tracking in Ultrasound ImagesSURGETICA, Jan 2005, Chambéry, France. pp.237-244
Communication dans un congrès
lirmm-00105992
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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
Communication dans un congrès
lirmm-00108910
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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
Communication dans un congrès
lirmm-00108922
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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
Communication dans un congrès
lirmm-00108921
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Geometrical and Physical Models of a 3D Range Finder1st IEEE International Conference on Sensors, Jun 2002, Orlando, United States
Communication dans un congrès
hal-01636560
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Matching stereoscopic segments: comparison between epipolar, bayesian, and neuronals approaches12th International Symposium on Measurement and Control in Robotics (ISCMCR 2002), Jun 2002, Bourges, France
Communication dans un congrès
hal-01636576
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A new method for matching segments in stereoscopic visionIEEE International Workshop on Virtual and Intelligent Measurement Systems (VIMS 2000), Apr 2000, Annapolis, United States. pp.134--140
Communication dans un congrès
hal-01636546
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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
Communication dans un congrès
hal-01636527
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Dispositif de mesures biomecaniques des vaisseaux et d'analyse volumetrique des membresFrance, N° de brevet: FR1556324A. 2015
Brevet
lirmm-01596169
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Éléments de vision pour la robotiqueAutomatique / Robotique. Institut national polytechnique de Toulouse (INPT), 2019
HDR
tel-04061825
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ANGIOSPAN2017
Logiciel
lirmm-01596174
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PULSART : Echographic Image Analysis for Arterial Diameter Estimation.2013
Logiciel
lirmm-01596171
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