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. 2017 Mar 24;12(6):921–930. doi: 10.1007/s11548-017-1558-9

Fig. 5.

Fig. 5

An illustration of ambiguous pose removal using chessboard vertices. The red and blue circles indicate projections of the model chessboard vertices using two candidate poses. The two quadrangles represent the projected outline of an ultrasound image on the image. In this example, we can easily see that the pose corresponds to the red is correct