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Median TRE at each of 16 target fiducials measured from 25 CT-CBCT image pairs for the complete registration process (➁–➃). (left) Target fiducials colored by magnitude of median TRE (colorbar), with a semi-opaque overlay of a CBCT volume and fiducial diameters scaled for depth perspective. (right) A sagittal slice of the 3D interpolated median TRE showing overall spatial dependence of registration accuracy.
