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Extracted Canny points in a single slice for quantitative evaluation of registration accuracy using the HD metric. (A): Points extracted from the preoperative MRI; (B): Points of (A) after transformation to the intraoperative space; (C): Points extracted from the intraoperative MRI. The HD metric is computed between point sets (B) and (C). Note that the Canny points are generally different from feature points used for registration.
