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The relative displacement of CBCT volumes (CBCT′TCBCT) is estimated from the tracking data computed using the camera mounted on the C-arm. This requires the calibration of camera and X-ray source (XTRGB), and the known relationship of X-ray source and CBCT volume (CBCTTX). The pose of the marker is observed by the camera (RGBTM), while the transformation from marker pose to CBCT volume (CBCTTM) is computed once and assumed to remain constant.
