Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach
ABSTRACTThe capsule robot has become an important tool in covering the entire spectrum of digestive tract disease diagnosis. To achieve magnetic capsule-robot localization, the Levenberg-Marquardt (LM) algorithm has become a mainstream approach that provides accurate solutions in the general case. I...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2024-03-01
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| Series: | Geo-spatial Information Science |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/10095020.2022.2085189 |
| _version_ | 1797254423970316288 |
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| author | Peng Zhang Ruizhi Chen Weiguo Dong You Li Yan Xu Jian Kuang Yuan Zhuang Rong Yu Mingyue Dong Xiaoji Niu |
| author_facet | Peng Zhang Ruizhi Chen Weiguo Dong You Li Yan Xu Jian Kuang Yuan Zhuang Rong Yu Mingyue Dong Xiaoji Niu |
| author_sort | Peng Zhang |
| collection | DOAJ |
| description | ABSTRACTThe capsule robot has become an important tool in covering the entire spectrum of digestive tract disease diagnosis. To achieve magnetic capsule-robot localization, the Levenberg-Marquardt (LM) algorithm has become a mainstream approach that provides accurate solutions in the general case. In practice, however, to meet the requirements of wearability, fewer sensors and lower power consumption are required. When the number of sensor observations becomes smaller, local convergences and outliers may occur in positioning results. To mitigate this issue, this paper makes two contributions to enhance the robustness of capsule-endoscope positioning, especially when the quality of magnetic observations is low. First, it proposes a two-step approach that initializes the capsule attitude by using inertial measurements before estimating the position. Second, it presents an improved LM-based positioning algorithm based on vest-type magnetic sensor arrays. Furthermore, to verify the proposed approach, a vest-type wearable device with two low-cost magnetometer arrays is designed. Test results have shown the effectiveness of the proposed LM method in enhancing positioning when there is a lack of observations. |
| first_indexed | 2024-04-24T21:49:44Z |
| format | Article |
| id | doaj.art-1c7fc593927b417baee0d2722af0250f |
| institution | Directory Open Access Journal |
| issn | 1009-5020 1993-5153 |
| language | English |
| last_indexed | 2024-04-24T21:49:44Z |
| publishDate | 2024-03-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Geo-spatial Information Science |
| spelling | doaj.art-1c7fc593927b417baee0d2722af0250f2024-03-20T15:02:06ZengTaylor & Francis GroupGeo-spatial Information Science1009-50201993-51532024-03-0127247548610.1080/10095020.2022.2085189Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approachPeng Zhang0Ruizhi Chen1Weiguo Dong2You Li3Yan Xu4Jian Kuang5Yuan Zhuang6Rong Yu7Mingyue Dong8Xiaoji Niu9State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaDepartment of Gastroenterology, Renmin Hospital of Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaDepartment of Gastroenterology, Renmin Hospital of Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaABSTRACTThe capsule robot has become an important tool in covering the entire spectrum of digestive tract disease diagnosis. To achieve magnetic capsule-robot localization, the Levenberg-Marquardt (LM) algorithm has become a mainstream approach that provides accurate solutions in the general case. In practice, however, to meet the requirements of wearability, fewer sensors and lower power consumption are required. When the number of sensor observations becomes smaller, local convergences and outliers may occur in positioning results. To mitigate this issue, this paper makes two contributions to enhance the robustness of capsule-endoscope positioning, especially when the quality of magnetic observations is low. First, it proposes a two-step approach that initializes the capsule attitude by using inertial measurements before estimating the position. Second, it presents an improved LM-based positioning algorithm based on vest-type magnetic sensor arrays. Furthermore, to verify the proposed approach, a vest-type wearable device with two low-cost magnetometer arrays is designed. Test results have shown the effectiveness of the proposed LM method in enhancing positioning when there is a lack of observations.https://www.tandfonline.com/doi/10.1080/10095020.2022.2085189Capsule-robotLevenberg-Marquardt (LM)wearablepositioning |
| spellingShingle | Peng Zhang Ruizhi Chen Weiguo Dong You Li Yan Xu Jian Kuang Yuan Zhuang Rong Yu Mingyue Dong Xiaoji Niu Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach Geo-spatial Information Science Capsule-robot Levenberg-Marquardt (LM) wearable positioning |
| title | Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach |
| title_full | Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach |
| title_fullStr | Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach |
| title_full_unstemmed | Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach |
| title_short | Robust capsule-robot positioning with limited magnetic observations: An inertial-enhanced approach |
| title_sort | robust capsule robot positioning with limited magnetic observations an inertial enhanced approach |
| topic | Capsule-robot Levenberg-Marquardt (LM) wearable positioning |
| url | https://www.tandfonline.com/doi/10.1080/10095020.2022.2085189 |
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