Endoscopic capsule localization with unknown signal propagation coefficients

Ilknur Umay, Baris Fidan, Mehmet Yuce

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

9 Citations (Scopus)


Wireless capsule endoscopy (WCE) localization techniques have gained increasing popularity for medical diagnostics and treatments, particularly in gastrointestinal (GI) track, in recent years. In these localization techniques, some parameters such as relative permittivity and path loss coefficients in the human body have significant effects on the accuracy of the capsule localization. Hence, these coefficients need to be accurately known or estimated for the effectiveness of the localization algorithm. This paper proposes a new adaptive biomedical capsule localization scheme utilizing a recent geometric cooperative sensor technique to estimate the path loss coefficient for received signal strength (RSS) and the relative permittivity for time-of-flight (TOF) based range sensors. This
cooperative environmental coefficient estimation technique involves use of a mobile sensor triplet in place of a single sensor, and provides instantaneous estimates. The proposed capsule localization scheme is combination of a discrete time recursive least squares (RLS) based adaptive localization scheme and the aforementioned coefficient estimation technique, with design parameters specific for the particular WCE localization application. The accuracy and effectiveness of the proposed scheme is successfully demonstrated via a set of simulation tests.
Original languageEnglish
Title of host publicationProceedings of the 17th International Conference on Advanced Robotics (ICAR 2015)
EditorsSinan Kalkan, Uluc Saranli
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages224 - 229
Number of pages6
ISBN (Print)9781467375092
Publication statusPublished - 2015
EventInternational Conference on Advanced Robotics (ICAR) 2015 - Kadir Has University Cibali Confrence Center, Istanbul, Turkey
Duration: 28 Jul 201530 Jul 2015
Conference number: 17th
https://ieeexplore.ieee.org/xpl/conhome/7235771/proceeding (Proceedings)


ConferenceInternational Conference on Advanced Robotics (ICAR) 2015
Abbreviated titleICAR 2015
Internet address


  • Wireless capsule endoscopy localization
  • relative permittivity
  • path loss coefficient
  • received signal strength
  • time-of-flight

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