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. 2014 Nov 14;41(12):121704. doi: 10.1118/1.4900828

FIG. 4.

FIG. 4.

Comparison between input and output 6D head motions for X, Y, Z, pitch, roll, and yaw, with resultant RMSE values of 0.03, 0.04, 0.04 mm, 0.03°, 0.02°, and 0.04°, respectively.