Figueiredo, Isabel N.Pinto, LuísPerdigoto, LuísOliveira, MarinaAraújo, HélderFigueiredo, Pedro N.2025-10-212025-10-212019-09-25Figueiredo, I.N., Pinto, L., Perdigoto, L., Oliveira, M., Araújo, H., Figueiredo, P.N. (2020). Wireless Capsule Endoscope Location and a Robotic Validation Experiment. In: Henriques, J., Neves, N., de Carvalho, P. (eds) XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. MEDICON 2019. IFMBE Proceedings, vol 76. Springer, Cham. https://doi.org/10.1007/978-3-030-31635-8_166.978303031634197830303163581680-0737http://hdl.handle.net/10400.8/14348EISBN - 9783030316358Conference name - 15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019; Conference date - 26 September 2019 - 28 September 2019; Conference code - 232529Fonte: https://scholar.google.com/scholar?q=Wireless%20Capsule%20Endoscope%20Location%20and%20a%20Robotic%20Validation%20Experiment&google_abuse=GOOGLE_ABUSE_EXEMPTION%3DID%3Dd5f75ffaf1e34bfc:TM%3D1761064433:C%3Dr:IP%3D194.210.216.121-:S%3DfC_FYleQI85RdQy5YwLh5bI%3B+path%3D/%3B+domain%3Dgoogle.com%3B+expires%3DTue,+21-Oct-2025+19:33:53+GMTWe present results concerning the validation of a novel approach for wireless capsule endoscope localization, using as ground truth a simulated biological/mechanical environment experiment. The approach relies essentially on image-based methods. It involves a hybrid multi-scale affine and elastic image registration procedure which is afterwards appropriately complemented with calibration and visual odometry techniques. The capsule was fixed at the extremity of a robotic arm and moved along a part of an ex-vivo mammalian bowel. The first validation results indicate a good correlation between the ground truth velocity and distance traveled by the capsule and the velocity and distance given by the proposed approach.engImage processingImage registrationCalibrationVisual odometryEndoscopyconference paper10.1007/978-3-030-31635-8_1661433-9277