Figure 7:

Initialization accuracy prior to 3D-2D registration step for (a) phantom and (b) cadaver experiments presented as violin plots. The circle in each violin plot denotes the median, and the gray bar marks the interquartile range. The violin thickness is proportional to the data density at different error (vertical axis), values and it presents each data point that contributed to the distribution as a pale circle in the distribution. Init_ctr represents a reference method where the 2D slice was initialized at the center of the 3D image. Init_NCC stored entire 2D images in the dictionary and searched for the entry with the optimal NCC and Init_Haar demonstrates the performance with the methods proposed in this work.