Update to previous comment :
I rebooted the headphones, and they now show-up identified by their names, 
clicked pair, and it worked.
Provided I avoid clicking on the two other devices which are only identified by 
their MAC address, the pairing with the phone works too.

Thanks to your help. I now have a working bluetooth configuration.

I used 
 sudo add-apt-repository ppa:hanipouspilot/rtlwifi
 sudo apt-get update
 sudo apt-get install linux-firmware

but it may work without this, but I won't risk breaking my working conf
for the moment.

You can mark this as resolved unless you want to investigate the sidebug
which crash the bluez daemon signaled in the comment.

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https://bugs.launchpad.net/bugs/1529356

Title:
  Bluetooth does not discover any device

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