% Chapter 5

\chapter{Conclusion and Future Direction} % Main chapter title

\label{Chapter5} % For referencing the chapter elsewhere, use \ref{Chapter1} 

\lhead{Chapter 5. \emph{Conclusion and Future Direction}} % This is for the header on each page - perhaps a shortened title

%----------------------------------------------------------------------------------------

This chapter provides an overall conclusion and discussion of some possible directions for the research that has been the focus of this dissertation

\section{Conclusion}

In this dissertation, we presented a hybrid localization technique that utilizes camera motion tracking algorithm to aid the existing RF localization infrastructure for the WCE application. The major contribution of this work is that we demonstrated the potential of using video source to aid the RF localization of the WCE. The proposed motion tracking technique is purely based on the image sequence that captured by the video camera which is already equipped on the capsule, thus, no extra components such as Inertial measurement units (IMUs) or magnetic coils are needed. The performance of the proposed method is validated under a virtual emulation environment. Experimental results show that by combining the motion information with RF measurements, the proposed hybrid localization algorithm is able to provide accurate, smooth and continuous localization results that meet the requirement of WCE application. In the future, we will focus on refining this algorithm according to the clinical data and testing this algorithm with real human object. 

\section{Future Direction}