Figure 3.

Schematic for approximating the “ground truth” transformation $\left({\widehat{T}}_{\text{true}}\right)$ between the set of iUS points (P_init) generated from the fiducial-based registration and that $\left({\widehat{P}}_{\text{true}}\right)$ averaged from P_sol. Arrows indicate the ordered steps in the procedure (see text for details).