This thesis is part of the magnetically-actuated video capsule endoscopy (VCE) project of RaM, and focuses on an image-based 3D reconstruction of the intestines. The magnetic actuation of the capsule results in a tumbling locomotion pattern. The tumbling video results can leave clinicians disoriented due to this motion, thus steering the capsule based on the raw image stream only is challenging. By providing the clinician with a real-time 3D reconstruction that serves as a traditional colonoscopic viewpoint, navigation is possible to traverse the colon and thoroughly investigate abnormalities along the way.
