Fig. 5
From: In vivo estimation of target registration errors during augmented reality laparoscopic surgery
RMS RPE measured on visible features versus RMS TRE measured at the pin heads for the phantom. a shows the RMS RPE measured using 9 subsurface pin heads (i.e. with the silicone liver phantom removed from its base.) b shows the RMS RPE measured using 3 subsets of features on the on the liver phantom’s surface