Derivation of expected registration error for point-based rigid-body registration.

J. Michael Fitzpatrick Jay B. West Calvin R. Maurer Jr. Derivation of expected registration error for point-based rigid-body registration. 1998 Image Processing https://doi.org/10.1117/12.310824 conf/miip/1998 db/conf/miip/miip1998.html#FitzpatrickWM98