A localization algorithm for capsule endoscopy based on feature point tracking

Wireless Capsule Endoscopy (WCE) has emerged as a popular non-invasive imaging tool for inspection of human Gastrointestinal (GI) tract. In order to identify the location of an anomaly or intestinal disease, the physicians need to know the exact location of the endoscopic capsule which influences the treatment plan. In this paper, we present a displacement estimation technique based on feature point tracking which utilizes the images captured by a commercial capsule, named PillCam. The proposed displacement calculation approach is tested using a virtual testbed. Results show that, with assistance of ASIFT-RANSAC algorithms, the proposed algorithm is able to estimate the linear displacement of the endoscopic capsule with an accuracy of 93.7% on average.