Jean Triboulet

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.

Publications

Article dans une revue (10)

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⟩ Article dans une revue hal-04638409v1
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 Nouet al. Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2022, 10 (1), pp.186-195.e25. ⟨10.1016/j.jvsv.2021.03.021⟩ Article dans une revue lirmm-04059591v1
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 Nouet al. Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2021, 9 (4), pp.987-997. ⟨10.1016/j.jvsv.2020.11.010⟩ Article dans une revue 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 Tribouletet al. Blood Pressure Monitoring, 2017, 22 (2), pp.86-94. ⟨10.1097/MBP.0000000000000231⟩ Article dans une revue 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 Tribouletet al. Journal of Vascular Surgery: Venous and Lymphatic Disorders, 2014, 2, pp.1. ⟨10.1016/j.jvsv.2013.08.002⟩ Article dans une revue 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⟩ Article dans une revue istex lirmm-00189906v1
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⟩ Article dans une revue hal-00339555v1
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 Article dans une revue hal-00342243v1
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⟩ Article dans une revue lirmm-00105362v1
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⟩ Article dans une revue lirmm-00108565v1

Communication dans un congrès (28)

Sensor-based Behavior Analysis and Modeling for the Honeybee Superorganism: a Platform Sébastien Druon,Baptiste Magnier,Jonathan Barés,Jean Triboulet,Jean-Luc Omset al. MMSP 2023 - IEEE 25th International Workshop on Multimedia Signal Processing, Sep 2023, Poitiers, France. ⟨10.1109/MMSP59012.2023.10337708⟩ Communication dans un congrès 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⟩ Communication dans un congrès hal-04059700v1
Contour-based approach for 3D mapping of underwater galleries Quentin Massone,Sébastien Druon,Yohan Breux,Jean Triboulet OCEANS 2020, Oct 2020, Biloxi, MS, Singapore. pp.1-6, ⟨10.1109/IEEECONF38699.2020.9388982⟩ Communication dans un congrès hal-04059706v1
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 Louiset al. OCEANS, Jun 2017, Aberdeen, United Kingdom. pp.1-6, ⟨10.1109/OCEANSE.2017.8084978⟩ Communication dans un congrès 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⟩ Communication dans un congrès lirmm-01596167v1
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 Communication dans un congrès 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⟩ Communication dans un congrès lirmm-01596155v1
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 Communication dans un congrès lirmm-00745214v1
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 Communication dans un congrès lirmm-00564713v1
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⟩ Communication dans un congrès 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 Communication dans un congrès lirmm-01596157v1
Stereo-Vision for 3D Tracking of the Beating Heart Aurélien Noce,Sylvain Petit,Jean Triboulet,Philippe Poignet SURGETICA, 2007, Chambery, France Communication dans un congrès lirmm-01596160v1
Suivi de coeur battant par analyse de texture Philippe Poignet,Aurélien Noce,Jean Triboulet SURGETICA, 2007, Chambéry, France. pp.403-407 Communication dans un congrès 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 Communication dans un congrès lirmm-00189695v1
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 Communication dans un congrès lirmm-00364676v1
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 Communication dans un congrès lirmm-00186884v1
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⟩ Communication dans un congrès lirmm-00098402v1
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⟩ Communication dans un congrès lirmm-00102762v1
3D Heart Motion Estimation Using Endoscopic Monocular Vision System Mickaël Sauvée,Philippe Poignet,Jean Triboulet,Etienne Dombre,Ezio Maliset al. MCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146 Communication dans un congrès lirmm-00100317v1
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 Communication dans un congrès lirmm-00125463v1
Mitral Valve Leaflet Motion Tracking in Ultrasound Images Mickaël Sauvée,Pierre Renaud,Philippe Poignet,Jean Triboulet,Etienne Dombreet al. SURGETICA, Jan 2005, Chambéry, France. pp.237-244 Communication dans un congrès 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 Communication dans un congrès lirmm-00108910v1
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 Communication dans un congrès lirmm-00108922v1
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 Communication dans un congrès lirmm-00108921v1
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 Communication dans un congrès hal-01636560v1
Matching stereoscopic segments: comparison between epipolar, bayesian, and neuronals approaches Camille N'Zi,Humberto Loaiza,Jean Triboulet,Sylvie Lelandais,Christian Baratet al. 12th International Symposium on Measurement and Control in Robotics (ISCMCR 2002), Jun 2002, Bourges, France Communication dans un congrès 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 Communication dans un congrès 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 Communication dans un congrès hal-01636527v1

Brevet (1)

Dispositif de mesures biomecaniques des vaisseaux et d'analyse volumetrique des membres Jean Triboulet,Florent Veye,Nicolas Berron,Michel Dauzat,Sandrine Mestreet al. France, N° de brevet: FR1556324A. 2015 Brevet lirmm-01596169v1

HDR (1)

Éléments de vision pour la robotique Jean Triboulet Automatique / Robotique. Institut national polytechnique de Toulouse (INPT), 2019 HDR tel-04061825v1

Logiciel (2)

ANGIOSPAN Jean Triboulet,Michel Dauzat,Florent Veye,Nicolas Berron 2017 Logiciel lirmm-01596174v1
PULSART : Echographic Image Analysis for Arterial Diameter Estimation. Jean Triboulet,Michel Dauzat,Florent Veye,Mathieu Benoit,Ludovic Jouvente 2013 Logiciel lirmm-01596171v1