\contentsline {chapter}{Abstract}{ii}{dummy.1}
\vspace {0.5em}
\contentsline {chapter}{Acknowledgements}{iii}{dummy.2}
\vspace {1em}
\contentsline {chapter}{Contents}{iv}{dummy.3}
\contentsline {chapter}{List of Figures}{vii}{dummy.5}
\contentsline {chapter}{List of Tables}{ix}{dummy.7}
\contentsline {chapter}{Abbreviations}{x}{dummy.9}
\contentsline {chapter}{Symbols}{xii}{dummy.12}
\contentsline {chapter}{\numberline {1}Introduction}{1}{chapter.15}
\contentsline {section}{\numberline {1.1}Evolution of Wireless Capsule Endoscopy (WCE)}{2}{section.16}
\contentsline {section}{\numberline {1.2}Motivation}{3}{section.17}
\contentsline {section}{\numberline {1.3}Contributions}{5}{section.18}
\contentsline {section}{\numberline {1.4}Outline of the Dissertation}{7}{section.31}
\contentsline {chapter}{\numberline {2}Challenges in WCE Localization}{9}{chapter.32}
\contentsline {section}{\numberline {2.1}Wireless Capsule Endoscopy (WCE)}{10}{section.33}
\contentsline {section}{\numberline {2.2}Literature Review}{14}{section.40}
\contentsline {section}{\numberline {2.3}RF Localization Techniques}{16}{section.41}
\contentsline {subsection}{\numberline {2.3.1}RSS based techniques}{17}{subsection.43}
\contentsline {subsection}{\numberline {2.3.2}ToA based techniques}{19}{subsection.46}
\contentsline {subsection}{\numberline {2.3.3}Localization Algorithms}{20}{subsection.48}
\contentsline {subsubsection}{\numberline {2.3.3.1}least square algorithm }{20}{subsubsection.50}
\contentsline {subsubsection}{\numberline {2.3.3.2}maximum likelihood algorithm }{22}{subsubsection.60}
\contentsline {subsection}{\numberline {2.3.4}Cramer Rao Lower Bound (CRLB)}{24}{subsection.69}
\contentsline {section}{\numberline {2.4}Challenges of Localization inside Small Intestine}{27}{section.77}
\contentsline {chapter}{\numberline {3}Design of Algorithms for Body-SLAM}{30}{chapter.78}
\contentsline {section}{\numberline {3.1}Formulation of Body-SLAM}{31}{section.79}
\contentsline {section}{\numberline {3.2}Motion Tracking using Endoscopic Images}{33}{section.81}
\contentsline {subsection}{\numberline {3.2.1}Analyzing the Content of Endoscopic Images}{33}{subsection.82}
\contentsline {subsubsection}{\numberline {3.2.1.1}Image segmentation using SRM}{33}{subsubsection.83}
\contentsline {subsubsection}{\numberline {3.2.1.2}Image classification using SVM classifier}{36}{subsubsection.87}
\contentsline {subsection}{\numberline {3.2.2}Feature Points Matching}{38}{subsection.93}
\contentsline {subsection}{\numberline {3.2.3}Image Unrolling}{40}{subsection.97}
\contentsline {subsection}{\numberline {3.2.4}Speed Estimation}{42}{subsection.105}
\contentsline {subsection}{\numberline {3.2.5}Direction of Moving Estimation}{44}{subsection.111}
\contentsline {section}{\numberline {3.3}Data Fusion of Visual and RF Information}{47}{section.121}
\contentsline {subsection}{\numberline {3.3.1}Kalman Filter}{48}{subsection.122}
\contentsline {subsection}{\numberline {3.3.2}Relative Position Predictions using Images}{51}{subsection.128}
\contentsline {subsection}{\numberline {3.3.3}Absolute Position Measurements by RF Localization}{53}{subsection.135}
\contentsline {subsection}{\numberline {3.3.4}Correction using RF Localization}{55}{subsection.140}
\contentsline {chapter}{\numberline {4}Performance Evaluation of the Body-SLAM}{57}{chapter.144}
\contentsline {section}{\numberline {4.1}Empirical Results of Motion Tracking}{57}{section.145}
\contentsline {subsection}{\numberline {4.1.1}Speed Estimation using PillCam COLON 2}{59}{subsection.147}
\contentsline {subsection}{\numberline {4.1.2}Statistical Speed Modeling}{60}{subsection.151}
\contentsline {section}{\numberline {4.2}Design of Testbed for Performance Evaluation}{67}{section.157}
\contentsline {subsection}{\numberline {4.2.1}Visual Component}{69}{subsection.159}
\contentsline {subsubsection}{\numberline {4.2.1.1}Physical testbed}{69}{subsubsection.160}
\contentsline {subsubsection}{\numberline {4.2.1.2}Virtual testbed}{71}{subsubsection.162}
\contentsline {subsection}{\numberline {4.2.2}RF Component}{78}{subsection.168}
\contentsline {subsubsection}{\numberline {4.2.2.1}RF propagation emulation using FDTD }{78}{subsubsection.169}
\contentsline {subsubsection}{\numberline {4.2.2.2}RSS vs ToA}{79}{subsubsection.172}
\contentsline {section}{\numberline {4.3}Performance Evaluation for Body-SLAM}{80}{section.173}
\contentsline {chapter}{\numberline {5}Conclusion and Future Direction}{88}{chapter.183}
\contentsline {section}{\numberline {5.1}Conclusion}{88}{section.184}
\contentsline {section}{\numberline {5.2}Future Direction}{89}{section.185}
\vspace {2em}
\contentsline {chapter}{\numberline {A}Appendix: Full Publication List}{90}{appendix.186}
\contentsline {section}{\numberline {A.1}Related to the Thesis}{90}{section.187}
\contentsline {section}{\numberline {A.2}Not Related to the Thesis}{92}{section.200}
\contentsline {chapter}{\numberline {B}Appendix Title Here}{94}{appendix.208}
\contentsline {chapter}{\numberline {C}Appendix Title Here}{95}{appendix.209}
\vspace {2em}
\contentsline {chapter}{Bibliography}{96}{dummy.210}