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Registration performance as a function of the ratio of lateral localization precision and the distance between binding sites for an icosahedron. Axial localization uncertainty is four times as worse as the lateral one. The icosahedron is tilted with respect to the axis such that all 12 binding sites are visible. Top row: sum projections on the xy-plane. Middle row: 3D iso-surface rendering viewed in the xy-plane, bottom row: view from the yz-plane.
