Position and Posture Estimation of Capsule Endoscopy with a Single Wearable Coil Toward Daily Life Diagnosis

This paper proposes a position and posture estimation method for capsule endoscopy. The proposed method aims to enable daily life diagnosis with a wearable device, which is a neck corset that includes a coil. The geomagnetic and acceleration sensors in the capsule endoscopy and the corset are used for localization. The accuracy of the estimated position and posture is evaluated with hardware measurements. Experimental results show that the proposed method estimates the posture within five-degree error and the position with the maximum error of 21.4 mm.