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