Free Sensor Array Based Relative Localization System for Wireless Capsule Endoscopy

In this paper, we firstly propose a novel method - Relative Localization, which is a meaningful technique for the localization of wireless capsule endoscopy in human body. The first implementation of relative localization system is presented with a completely new design, the free sensor array. The free sensor array and the established coordinate system follow the patient's belly. The errors of sensor position, sensor orientation and object relative distance increment are only 4.171mm, 2.065° and 1.464mm, respectively. The analysis of the experimental results can be used as guidance for the medical staff.