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. Author manuscript; available in PMC: 2016 Sep 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Mar 26;62(9):2177–2186. doi: 10.1109/TBME.2015.2415731

Fig. 1.

Fig. 1

Coordinate systems involved in patient registration. Solid/dashed arrows indicate transformations determined from calibration/registration. A transformation reversing the arrow direction is obtained by matrix inversion.