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. Author manuscript; available in PMC: 2013 Nov 25.
Published in final edited form as: IEEE Trans Med Imaging. 2005 Jun;24(6):10.1109/TMI.2005.848373. doi: 10.1109/TMI.2005.848373

Fig. 7.

Fig. 7

The different rigid-body tracking experiments performed to evaluate tracking capabilities of the experimental setup. (a) Tracking accuracy given varying scanning extents. (b) Tracking accuracy given a moving phantom in full extents. (c) Tracking accuracy given a moving phantom and focused extents. (d) Tracking accuracy given camera pose changes and a stationary phantom. (e) Tracking accuracy given camera and phantom pose changes. (f) Tracking accuracy given various scanning incidence angles.