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A graphical representation of the full model. Each of the N images (f) is assumed to be a deformed version of the template (μ) scaled by a multiplicative inhomogeneity field [exp(b)] with additive Gaussian noise (precision λ). Each deformation is modeled by the composition of a rigid-body transform (ξ) parameterized by a vector of six parameters (q), and a diffeomorphic deformation (ϕ) parameterized by its initial velocity (v).
