Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: EndoSensorFusion: Particle Filtering-Based Multi-sensory Data Fusion
  with Switching State-Space Model for Endoscopic Capsule Robots   A reliable, real time multi-sensor fusion functionality is crucial for
localization of actively controlled capsule endoscopy robots, which are an
emerging, minimally invasive diagnostic and therapeutic technology for the
gastrointestinal (GI) tract. In this study, we propose a novel multi-sensor
fusion approach based on a particle filter that incorporates an online
estimation of sensor reliability and a non-linear kinematic model learned by a
recurrent neural network. Our method sequentially estimates the true robot pose
from noisy pose observations delivered by multiple sensors. We experimentally
test the method using 5 degree-of-freedom (5-DoF) absolute pose measurement by
a magnetic localization system and a 6-DoF relative pose measurement by visual
odometry. In addition, the proposed method is capable of detecting and handling
sensor failures by ignoring corrupted data, providing the robustness expected
of a medical device. Detailed analyses and evaluations are presented using
ex-vivo experiments on a porcine stomach model prove that our system achieves
high translational and rotational accuracies for different types of endoscopic
capsule robot trajectories.

11
The categories of this paper are: hep-lat
15
The categories of this paper are: nucl-ex
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
22
The categories of this paper are: chao-dyn
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
32
The categories of this paper are: atom-ph
36
The categories of this paper are: cmp-lg
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
26
The categories of this paper are: bayes-an
21
The categories of this paper are: adap-org
18
The categories of this paper are: econ
24
The categories of this paper are: dg-ga
19
The categories of this paper are: eess