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Jean Triboulet



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.


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A Novel 3D Reconstruction Sensor Using a Diving Lamp and a Camera for Underwater Cave Exploration

Quentin Massone , Sébastien Druon , Jean Triboulet
Sensors, 2024, 24 (12), pp.4024. ⟨10.3390/s24124024⟩
Journal articles hal-04638409v1
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Acute effects of graduated and progressive compression stockings on leg vein cross-sectional area and viscoelasticity in patients with chronic venous disease

Sandrine Mestre , Jean Triboulet , Christophe Demattei , Florent Veye , Monira Nou
Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2022, 10 (1), pp.186-195.e25. ⟨10.1016/j.jvsv.2021.03.021⟩
Journal articles lirmm-04059591v1
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Noninvasive measurement of venous wall deformation induced by changes in transmural pressure shows altered viscoelasticity in patients with chronic venous disease

Sandrine Mestre , Jean Triboulet , Christophe Demattei , Florent Veye , Monira Nou
Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2021, 9 (4), pp.987-997. ⟨10.1016/j.jvsv.2020.11.010⟩
Journal articles hal-03228579v1

An Ultrasound Look at Korotkoff sounds: the role of pulse wave velocity and flow turbulence

Amir Benmira , Antonia Perez-Martin , Iris Schuster , Florent Veye , Jean Triboulet
Blood Pressure Monitoring, 2017, 22 (2), pp.86-94. ⟨10.1097/MBP.0000000000000231⟩
Journal articles lirmm-01596150v1

Validation of lower limb segmental volumetry with hand-held, self-positioning three-dimensional laser scanner against water displacement

Sandrine Mestre , Florent Veye , Antonia Perez-Martin , Thomas Behar , Jean Triboulet
Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2014, 2, pp.1. ⟨10.1016/j.jvsv.2013.08.002⟩
Journal articles lirmm-01596152v1

Three-dimensional heart motion estimation using endoscopic monocular vision system: From artificial landmarks to texture analysis

Mickaël Sauvée , Aurélien Noce , Philippe Poignet , Jean Triboulet , Etienne Dombre
Biomedical Signal Processing and Control, 2007, IFAC Symposia on Biomedical Systems Modelling & Control, 2 (3), pp.199-207. ⟨10.1016/j.bspc.2007.07.006⟩
Journal articles lirmm-00189906v1
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Determining the Best Colour Axis for Detecting and Extracting Segments in Vision Robotics

Christophe Montagne , Camille Edie Nzi , Sylvie Lelandais , Jean Triboulet , Humberto Loaiza
Journal of Applied Science and Technology (JAST), 2006, 11, pp.5--14
Journal articles hal-00342243v1
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Vision system for diagnostic task

Djamel Merad , Camille Edie Nzi , Jean Triboulet , Sylvie Lelandais , Malik Mallem
Global Journal of Pure and Applied Sciences, 2006, 12 (2), pp.229-238. ⟨10.4314/gjpas.v12i2.16596⟩
Journal articles hal-00339555v1
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Modelling 3D Unknown Object by Range Finder and Video Camera and Updating of a 3D Database by a Single Camera View

Camille Edie Nzi , Jean Triboulet , Malik Mallem , Florent Chavand
Global Journal of Pure and Applied Sciences, 2005, 11 (1), pp.153-163. ⟨10.4314/gjpas.v11i1.16476⟩
Journal articles lirmm-00105362v1
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Correspondence of line segments between two perpective images: comparaison between Epipolar, Bayesian and Neuronal approaches

Camille Edie Nzi , Humberto Loaiza , Jean Triboulet , Sylvie Lelandais , Christophe Montagne
Global Journal of Pure and Applied Sciences, 2004, 10 (2), pp.335-341. ⟨10.4314/gjpas.v10i2.16403⟩
Journal articles lirmm-00108565v1
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Sensor-based Behavior Analysis and Modeling for the Honeybee Superorganism: a Platform

Sébastien Druon , Baptiste Magnier , Jonathan Barés , Jean Triboulet , Jean-Luc Oms
MMSP 2023 - IEEE 25th International Workshop on Multimedia Signal Processing, Sep 2023, Poitiers, France
Conference papers hal-04205287v1

An original 3D reconstruction method using a conical light and a camera in underwater caves

Quentin Massone , Sébastien Druon , Jean Triboulet
ICCCV 2021 - 4th International Conference on Control and Computer Vision, Aug 2021, Macau, China. pp.126-134, ⟨10.1145/3484274.3484294⟩
Conference papers hal-04059700v1

Contour-based approach for 3D mapping of underwater galleries

Quentin Massone , Sébastien Druon , Yohan Breux , Jean Triboulet
Global Oceans 2020: Singapore - U.S. Gulf Coast, Oct 2020, Biloxi, MS, Singapore. pp.1-6, ⟨10.1109/IEEECONF38699.2020.9388982⟩
Conference papers hal-04059706v1
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3D underwater reconstruction of archeology object with a mono camera camcorder: The case study at Gourneyras lake

Yadpiroon Onmek , Jean Triboulet , Sébastien Druon , Arnaud Meline , Silvain Louis
OCEANS, Jun 2017, Aberdeen, United Kingdom. pp.1-6, ⟨10.1109/OCEANSE.2017.8084978⟩
Conference papers lirmm-02018544v1

Evaluation of underwater 3D reconstruction methods for Archaeological Objects: Case study of Anchor at Mediterranean Sea

Yadpiroon Onmek , Jean Triboulet , Sébastien Druon , Arnaud Meline , Bruno Jouvencel
ICCAR: International Conference on Control, Automation and Robotics, Apr 2017, Nagoya, Japan. pp.394-398, ⟨10.1109/ICCAR.2017.7942725⟩
Conference papers lirmm-01596167v1
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Possibility of non-invasive blood pressure estimation by measurements of force and arteries diameter

Florent Veye , Sandrine Mestre , Antonia Perez-Martin , Jean Triboulet
BHI: Biomedical and Health Informatics, Jun 2014, Valencia, Spain
Conference papers lirmm-01007425v1

Evaluation of lower limb vein biomechanical properties and the effects of compression stockings, with an instrumented ultrasound probe

Florent Veye , Sandrine Mestre , Nicolas Berron , Antonia Perez-Martin , Jean Triboulet
EMBC: Engineering in Medicine and Biology Conference, 2014, Chicago, United States. pp.74-77, ⟨10.1109/EMBC.2014.6943532⟩
Conference papers lirmm-01596155v1
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Comparative Study of Two 3D Reconstruction Methods for Underwater Archaeology

Arnaud Meline , Jean Triboulet , Bruno Jouvencel
IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal
Conference papers lirmm-00745214v1
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Highly Specific Pose Estimation with a Catadioptric Omnidirectional Camera

Frédéric Comby , Olivier Strauss , Baptiste Magnier , Jean Triboulet , Cédric Demonceaux
IST'10: International Conference on Imaging Systems and Techniques, Jul 2010, Thessalonique, Greece. pp.229-233
Conference papers lirmm-00564713v1
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A Camcorder for 3D Underwater Reconstruction of Archeological Objects

Arnaud Meline , Jean Triboulet , Bruno Jouvencel
OCEANS, Sep 2010, Seattle, WA, United States. ⟨10.1109/OCEANS.2010.5664572⟩
Conference papers lirmm-00523974v1

Diameter and blood pressure estimation in arteries using an echographic instrumented probe

Jean Triboulet , Florent Veye , Antonia Perez-Martin , Michel Dauzat , Etienne Dombre
ESSR: European Society for Surgical Research, May 2009, Nimes, France
Conference papers lirmm-01596157v1

Stereo-Vision for 3D Tracking of the Beating Heart

Aurélien Noce , Sylvain Petit , Jean Triboulet , Philippe Poignet
SURGETICA, 2007, Chambery, France
Conference papers lirmm-01596160v1

Suivi de coeur battant par analyse de texture

Philippe Poignet , Aurélien Noce , Jean Triboulet
SURGETICA, 2007, Chambéry, France. pp.403-407
Conference papers lirmm-00189791v1

Efficient tracking of the heart using texture

Aurélien Noce , Jean Triboulet , Philippe Poignet
29th Annual International Conference of the IEEE EMBS, pp.4480-4483
Conference papers lirmm-00189695v1
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Suivi de Coeur Battant : Tracking 2D et 3D utilisant la Texture

Aurélien Noce , Jean Triboulet , Philippe Poignet
CORESA: COmpression et REprésentation des Signaux Audiovisuels, Nov 2007, Montpellier, France. pp.43-47
Conference papers lirmm-00186884v1

Mesure d' effort et de diamètre d'artères

Jean Triboulet , Michel Dauzat , Philippe Poignet , Etienne Dombre
4ème Colloque Interdisciplinaire en Instrumentation C2I, Oct 2007, Nancy, pp.001-008
Conference papers lirmm-00364676v1

Texture Features Selection for Visual Servoing of the Beating Heart

Aurélien Noce , Jean Triboulet , Philippe Poignet , Etienne Dombre
BioRob 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 lirmm-00102762v1

Evaluation of the Influence of Probe Pressure on the B-Mode Ultrasound Measurement of Arterial Diameter

Jean Triboulet , Elias Nasr , Michel Dauzat
EMBC: Engineering in Medicine and Biology Conference, Aug 2006, New York, United States. pp.3831-3835, ⟨10.1109/IEMBS.2006.260219⟩
Conference papers lirmm-00098402v1

Composite visual tracking of the moving heart using texture characterization

Aurélien Noce , Jean Triboulet , Philippe Poignet
Medical Robotics Workshop (MICCAI'06), Oct 2006, pp.6
Conference papers lirmm-00125463v1

3D Heart Motion Estimation Using Endoscopic Monocular Vision System

Philippe Poignet , Jean Triboulet , Mickaël Sauvée , Etienne Dombre , Ezio Malis
MCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146
Conference papers lirmm-00100317v1

Mitral Valve Leaflet Motion Tracking in Ultrasound Images

Mickaël Sauvée , Pierre Renaud , Philippe Poignet , Jean Triboulet , Etienne Dombre
SURGETICA, Jan 2005, Chambéry, France. pp.237-244
Conference papers lirmm-00105992v1

New Color Features for In-Door Image Processing

Christophe Montagne , Sylvie Lelandais , Jean Triboulet , André Smolarz , Etienne Colle
SETIT'04: Sciences of ElectronicTechnology of Informations and Telecommunications, Mar 2004, Sousse, Tunisia. pp.7
Conference papers lirmm-00108910v1

A Skeleton Based Method for 3d Free-Form Object Recognition

Malik Mallem , Djamel Merad , Manon Lelandais , Jean Triboulet
IMG: Intelligent Manipulation and Grasping, Jul 2004, Genova, Italy. pp.593--598
Conference papers lirmm-00108921v1

Méthode Robuste de Squelettisation par Carte de Distances et Diagramme de Voronoï

Djamel Merad , Sylvie Lelandais , Malik Mallem , Jean Triboulet
SETIT'04: Sciences of Electronic, Technology of Informations and Telecommunications, Mar 2004, Sousse (Tunisie), pp.7
Conference papers lirmm-00108922v1

Geometrical and Physical Models of a 3D Range Finder

Christian Barat , Jean Triboulet , Etienne Colle , Florent Chavand , Camille N'Zi
1st IEEE International Conference on Sensors, Jun 2002, Orlando, United States
Conference papers hal-01636560v1

Matching stereoscopic segments: comparison between epipolar, bayesian, and neuronals approaches

Camille N'Zi , Humberto Loaiza , Jean Triboulet , Sylvie Lelandais , Christian Barat
12th International Symposium on Measurement and Control in Robotics (ISCMCR 2002), Jun 2002, Bourges, France
Conference papers hal-01636576v1

A new method for matching segments in stereoscopic vision

Humberto Loaiza , Jean Triboulet , Sylvie Lelandais , Christian Barat
IEEE International Workshop on Virtual and Intelligent Measurement Systems (VIMS 2000), Apr 2000, Annapolis, United States. pp.134--140
Conference papers hal-01636546v1

Geometrical and physical modeling of 3D system using a range finder and camera

Christian Barat , Jean Triboulet , Etienne Colle
IFIP WG7.6 Working Conference, May 1996, Noisy le grand, France
Conference papers hal-01636527v1
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Éléments de vision pour la robotique

Jean Triboulet
Automatique / Robotique. Institut national polytechnique de Toulouse (INPT), 2019
Habilitation à diriger des recherches tel-04061825v1