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. Author manuscript; available in PMC: 2018 Apr 21.
Published in final edited form as: Phys Med Biol. 2017 Feb 24;62(8):3330–3351. doi: 10.1088/1361-6560/aa62c5

Figure 5.

Figure 5

Simultaneous component registration. (a) Positional and (b) angular TRE for calibration-free sequential, simultaneous, and calibrated simultaneous solutions. (c–e) Aggregate registration results overlaid on post-op axial slices of the L3 vertebra. The sequential solution (c) is seen to converge at a false global optimum. The simultaneous solution (d) better avoids such degenerate a solution. The simultaneous approach using prior calibration (e) exhibits a high degree of accuracy with no outliers.