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. Author manuscript; available in PMC: 2015 May 7.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2012;15(0 3):139–146. doi: 10.1007/978-3-642-33454-2_18

Figure 2.

Figure 2

Diagram of the experiment methodology. The surgical space contains N fiducial configurations that are created by adding FLE to the original fiducial locations. The image space contains the rotated and translated fiducials. Each set of fiducial configurations are registered to every other configuration, both in image space and in surgical space. The red links represent the registrations for which we calculate the TRE, FRE and ε values.