Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Magnetic-Visual Sensor Fusion based Medical SLAM for Endoscopic Capsule
  Robot   A reliable, real-time simultaneous localization and mapping (SLAM) method is
crucial for the navigation of actively controlled capsule endoscopy robots.
These robots are an emerging, minimally invasive diagnostic and therapeutic
technology for use in the gastrointestinal (GI) tract. In this study, we
propose a dense, non-rigidly deformable, and real-time map fusion approach for
actively controlled endoscopic capsule robot applications. The method combines
magnetic and vision based localization, and makes use of frame-to-model fusion
and model-to-model loop closure. The performance of the method is demonstrated
using an ex-vivo porcine stomach model. Across four trajectories of varying
speed and complexity, and across three cameras, the root mean square
localization errors range from 0.42 to 1.92 cm, and the root mean square
surface reconstruction errors range from 1.23 to 2.39 cm.

5
The categories of this paper are: gr-qc
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The categories of this paper are: physics
33
The categories of this paper are: plasm-ph
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The categories of this paper are: adap-org
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The categories of this paper are: hep-ex
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The categories of this paper are: hep-th
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The categories of this paper are: chao-dyn
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The categories of this paper are: nucl-th
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The categories of this paper are: atom-ph
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The categories of this paper are: nlin
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The categories of this paper are: hep-lat
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The categories of this paper are: eess
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The categories of this paper are: ao-sci
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The categories of this paper are: acc-phys
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The categories of this paper are: q-alg
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The categories of this paper are: quant-ph