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Table 1 MT9-B calibration precision. The table shows the standard deviation, in degrees, of the in-plane roll, and the out-of-plane yaw and tilt angles, of the 25 calibrations relative to the average calibration.

From: Calibration of an orientation sensor for freehand 3D ultrasound and its use in a hybrid acquisition system

  Roll Yaw Tilt
Standard deviation (degrees) 0.08 1.10 1.50