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We present a robust deep learning based 6 degrees-of-freedom (DoF) localization system for endoscopic capsule robots.
J. M. Rubin, H. Xie, K. Kim, W. F. Weitzel, S. Y. Emelianov, S. R. Aglyamov, T. W. Wakefield, A. G. Urquhart, M. O’Donnell, Sonographic elasticity imaging of acute and chronic deep venous thrombosis in humans, Journal of Ultrasound in Medicine 25 (9) (2006) 1179–1186
2006
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P. Mountney, D. Stoyanov, A. Davison, G.-Z. Yang, Simultaneous stereoscope localization and soft-tissue mapping for minimal invasive surgery, in: International Conference on Medical Image Computing and Computer-Assisted Intervention, Springer, 2006, pp. 347–354
2006
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M. Fluckiger, B. J. Nelson, Ultrasound emitter localization in heterogeneous media, in: 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, 2007, pp. 2867–2870
2007
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T. Nakamura, A. Terano, Capsule endoscopy: past, present, and future, Journal of gastroenterology 43 (2) (2008) 93–99
2008
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K. Kim, L. A. Johnson, C. Jia, J. C. Joyce, S. Rangwalla, P. D. Higgins, J. M. Rubin, Noninvasive ultrasound elasticity imaging (uei) of crohn’s disease: animal model, Ultrasound in medicine & biology 34 (6) (2008) 902–912
2008
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O. G. Grasa, J. Civera, A. Guemes, V. Munoz, J. Montiel, Ekf monocular slam 3d modeling, measuring and augmented reality from endoscope image sequences, in: Medical image computing and computer-assisted intervention (MICCAI), Vol. 2, 2009
2009
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Z. Liao, R. Gao, C. Xu, Z.-S. Li, Indications and detection, completion, and retention rates of small-bowel capsule endoscopy: a systematic review, Gastrointestinal endoscopy 71 (2) (2010) 280–286
2010
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F. Carpi, N. Kastelein, M. Talcott, C. Pappone, Magnetically controllable gastrointestinal steering of video capsules, IEEE Transactions on Biomedical Engineering 58 (2) (2011) 231–234
2011
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G. Pan, L. Wang, Swallowable wireless capsule endoscopy: progress and technical challenges, Gastroenterology research and practice 2012
2012
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T. D. Than, G. Alici, H. Zhou, W. Li, A review of localization systems for robotic endoscopic capsules, IEEE Transactions on Biomedical Engineering 59 (9) (2012) 2387–2399
2012
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H. Keller, A. Juloski, H. Kawano, M. Bechtold, A. Kimura, H. Takizawa, R. Kuth, Method for navigation and control of a magnetically guided capsule endoscope in the human stomach, in: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, 2012, pp. 859–865
2012
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A. Krizhevsky, I. Sutskever, G. E. Hinton, Imagenet classification with deep convolutional neural networks, in: Advances in neural information processing systems, 2012, pp. 1097–1105
2012
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M. K. Goenka, S. Majumder, U. Goenka, Capsule endoscopy: Present status and future expectation, World J Gastroenterol 20 (29) (2014) 10024–10037
2014
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F. Munoz, G. Alici, W. Li, A review of drug delivery systems for capsule endoscopy, Advanced drug delivery reviews 71 (2014) 77–85
2014
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S. Yim, E. Gultepe, D. H. Gracias, M. Sitti, Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers, IEEE Transactions on Biomedical Engineering 61 (2) (2014) 513–521
2014
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Y. Jia, E. Shelhamer, J. Donahue, S. Karayev, J. Long, R. Girshick, S. Guadarrama, T. Darrell, Caffe: Convolutional architecture for fast feature embedding, in: Proceedings of the 22nd ACM international conference on Multimedia, ACM, 2014, pp. 675–678
2014
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A. W. Mahoney, S. E. Wright, J. J. Abbott, Managing the attractive magnetic force between an untethered magnetically actuated tool and a rotating permanent magnet, in: Robotics and Automation (ICRA), 2013 IEEE International Conference on, IEEE, 2013, pp. 5366–5371
2013
Cited alongside, same era.
A. J. Petruska, J. J. Abbott, An omnidirectional electromagnet for remote manipulation, in: Robotics and Automation (ICRA), 2013 IEEE International Conference on, IEEE, 2013, pp. 822–827
2013
Cited alongside, same era.
S. Yim, M. Sitti, 3-d localization method for a magnetically actuated soft capsule endoscope and its applications, IEEE Transactions on Robotics 29 (5) (2013) 1139–1151
2013
Cited alongside, same era.
B. Lin, A. Johnson, X. Qian, J. Sanchez, Y. Sun, Simultaneous tracking, 3d reconstruction and deforming point detection for stereoscope guided surgery, in: Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions, Springer, 2013, pp. 35–44
2013
Cited alongside, same era.
Cited in the paper.
D. Kingma, J. Ba, Adam: A method for stochastic optimization, arXiv preprint arXiv:1412.6980
Cited in the paper.
2014
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M. Sitti, H. Ceylan, W. Hu, J. Giltinan, M. Turan, S. Yim, E. Diller, Biomedical applications of untethered mobile milli/microrobots, Proceedings of the IEEE 103 (2) (2015) 205–224
2015
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C. Szegedy, W. Liu, Y. Jia, P. Sermanet, S. Reed, D. Anguelov, D. Erhan, V. Vanhoucke, A. Rabinovich, Going deeper with convolutions, in: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2015, pp. 1–9
2015
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A. Kendall, M. Grimes, R. Cipolla, Posenet: A convolutional network for real-time 6-dof camera relocalization, in: Proceedings of the IEEE International Conference on Computer Vision, 2015, pp. 2938–2946
2015
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