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. 2019 Dec 6;6(6):226–230. doi: 10.1049/htl.2019.0078

Fig. 4.

Fig. 4

Registration results in the validation dataset

a Comparison between the x, y, and z components of the trajectories of the proposed registration (colours) and marker-based tracking (black)

b Distribution of the rotation error (eR) in degrees and the translation error (eT) in millimetres