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. Author manuscript; available in PMC: 2013 Nov 6.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Aug 23;60(4):10.1109/TBME.2012.2215033. doi: 10.1109/TBME.2012.2215033

Fig. 8.

Fig. 8

SRE computed for each point in the surface model for the five tracked pointer (top row), five LRS (middle row), and five conoprobe (bottom row) datasets of the liver phantom. Registration error increases from blue to white to red.