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\contentsline {figure}{\numberline {2.1}{\ignorespaces The architecture of WCE \cite {pan2011swallowable}\relax }}{12}{figure.caption.37}
\contentsline {figure}{\numberline {2.2}{\ignorespaces Wireless Capsule Endoscopy\relax }}{12}{figure.caption.38}
\contentsline {figure}{\numberline {2.3}{\ignorespaces A typical RF localization system\relax }}{17}{figure.caption.42}
\contentsline {figure}{\numberline {2.4}{\ignorespaces A typical 3D pattern of body mounted sensors used as reference points of the performance evaluation scenario for localization of the WCE\relax }}{25}{figure.caption.70}
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\contentsline {figure}{\numberline {3.1}{\ignorespaces Overall flow chart of Body-SLAM\relax }}{32}{figure.caption.80}
\contentsline {figure}{\numberline {3.2}{\ignorespaces Two basic categories of endoscopic images\relax }}{34}{figure.caption.84}
\contentsline {figure}{\numberline {3.3}{\ignorespaces Two sequences of segmented image with Q = 16 Top 2 rows: FT, Bottom 2 rows: FL\relax }}{35}{figure.caption.85}
\contentsline {figure}{\numberline {3.4}{\ignorespaces Illustration of feature mapping using Kernel function\relax }}{38}{figure.caption.91}
\contentsline {figure}{\numberline {3.5}{\ignorespaces A WCE moving inside the small intestine\relax }}{39}{figure.caption.94}
\contentsline {figure}{\numberline {3.6}{\ignorespaces Feature matching between two consecutive images using A-SIFT\relax }}{40}{figure.caption.96}
\contentsline {figure}{\numberline {3.7}{\ignorespaces Image acquisition system of WCE.\relax }}{40}{figure.caption.98}
\contentsline {figure}{\numberline {3.8}{\ignorespaces The process of "unrolling" the cylindrical image\relax }}{42}{figure.caption.104}
\contentsline {figure}{\numberline {3.9}{\ignorespaces Speed estimation\relax }}{44}{figure.caption.110}
\contentsline {figure}{\numberline {3.10}{\ignorespaces Direction of moving of the capsule\relax }}{44}{figure.caption.112}
\contentsline {figure}{\numberline {3.11}{\ignorespaces Direction of moving estimation\relax }}{45}{figure.caption.114}
\contentsline {figure}{\numberline {3.12}{\ignorespaces A typical RF localization system\relax }}{54}{figure.caption.136}
\contentsline {figure}{\numberline {3.13}{\ignorespaces A complete flowchart of data fusion of images and RF measurements using a Kalman filter\relax }}{56}{figure.caption.143}
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\contentsline {figure}{\numberline {4.1}{\ignorespaces Some typical landmarks for the WCE\relax }}{58}{figure.caption.146}
\contentsline {figure}{\numberline {4.2}{\ignorespaces PillCam COLON 2 with double cameras\relax }}{60}{figure.caption.148}
\contentsline {figure}{\numberline {4.3}{\ignorespaces Speed estimation results from PillCam COLON 2 double cameras\relax }}{61}{figure.caption.149}
\contentsline {figure}{\numberline {4.4}{\ignorespaces Statistics of speed estimation using PillCam COLON 2 double cameras \relax }}{62}{figure.caption.150}
\contentsline {figure}{\numberline {4.5}{\ignorespaces PDF of the speed estimation from different individuals\relax }}{63}{figure.caption.152}
\contentsline {figure}{\numberline {4.6}{\ignorespaces CDF of the speed estimation from different individuals\relax }}{63}{figure.caption.153}
\contentsline {figure}{\numberline {4.7}{\ignorespaces Speed estimation results of a sequence of real endoscopic images\relax }}{65}{figure.caption.154}
\contentsline {figure}{\numberline {4.8}{\ignorespaces A typical speed pattern of moving fast \relax }}{66}{figure.caption.155}
\contentsline {figure}{\numberline {4.9}{\ignorespaces A typical speed pattern of moving slow \relax }}{66}{figure.caption.156}
\contentsline {figure}{\numberline {4.10}{\ignorespaces Design of emulation testbed for quantitative performance evaluation \relax }}{68}{figure.caption.158}
\contentsline {figure}{\numberline {4.11}{\ignorespaces A physical visual model for the small intestine (a) wired endoscopic camera (b) appearance of the physical model (c) pictures taken from inside the physical model\relax }}{70}{figure.caption.161}
\contentsline {figure}{\numberline {4.12}{\ignorespaces Mapping the physical testbed into virtual 3D space\relax }}{73}{figure.caption.163}
\contentsline {figure}{\numberline {4.13}{\ignorespaces 3D testbed\relax }}{74}{figure.caption.164}
\contentsline {figure}{\numberline {4.14}{\ignorespaces Emulated endoscopic images from virtual visual testbed\relax }}{74}{figure.caption.165}
\contentsline {figure}{\numberline {4.15}{\ignorespaces 3D path generation from a 3D GI tract model\relax }}{76}{figure.caption.166}
\contentsline {figure}{\numberline {4.16}{\ignorespaces Emulation testbed set up\relax }}{77}{figure.caption.167}
\contentsline {figure}{\numberline {4.17}{\ignorespaces Emulation testbed set up\relax }}{79}{figure.caption.170}
\contentsline {figure}{\numberline {4.18}{\ignorespaces Emulation testbed set up\relax }}{80}{figure.caption.171}
\contentsline {figure}{\numberline {4.19}{\ignorespaces Typical movements detected by the proposed motion tracking algorithm\relax }}{81}{figure.caption.174}
\contentsline {figure}{\numberline {4.20}{\ignorespaces Result of the motion tracking compared with ground truth\relax }}{82}{figure.caption.175}
\contentsline {figure}{\numberline {4.21}{\ignorespaces Result of the motion tracking compared with ground truth\relax }}{82}{figure.caption.176}
\contentsline {figure}{\numberline {4.22}{\ignorespaces Localization results of different algorithms and performance evaluation\relax }}{83}{figure.caption.177}
\contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Localization results of different algorithms}}}{83}{figure.caption.177}
\contentsline {subfigure}{\numberline {(b)}{\ignorespaces {Evolution of localizatoin error as the capsule moves }}}{83}{figure.caption.177}
\contentsline {figure}{\numberline {4.23}{\ignorespaces Error distributions of different algorithms\relax }}{86}{figure.caption.181}
\contentsline {figure}{\numberline {4.24}{\ignorespaces Performance evaluation by CDF plot of different algorithms\relax }}{87}{figure.caption.182}
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