@article{yim20133,
  title = {3-D Localization Method for a Magnetically Actuated Soft Capsule Endoscope and Its Applications},
  journal = {IEEE Trans. on Robotics},
  volume = {29},
  number = {5},
  pages = {1139--1151},
  year = {2013},
  author = {Yim, Sehyuk and Sitti, Metin}
}