Figure 5.

Registration accuracy assessment test for registering a 3D object with the system image sensors. (A) The 3D printed cube (blue) with fiducial markers placed for optimal alignment. The markers have been detected by the system, and green dots have been placed at the selected registration corners; (B) The virtual cube (red) in 3D space. The cube is contained within the projection matrix (gray box) whose virtual fiducial points are indicated in red; (C) Co-registered image of the imaged blue cube with the virtual red cube (purple). The red arrow indicates a small registration misalignment where the blue of the real-world cube can be seen; (D) Using the stylus with affixed fifth Aruco marker to assign a fifth interior fiducial point.