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Table 2 MT9-B orientation accuracy. The table shows the orientation reconstruction accuracy in terms of the mean and standard deviation of the error between frame pairs. Values are in degrees.

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

  Roll Yaw Tilt
Tilt-yaw rotation -0.0593 ± 0.3058 -0.4633 ± 0.8887 +0.0641 ± 0.1658
Roll-yaw rotation +0.0371 ± 0.3117 -2.1223 ± 1.8843 -0.2040 ± 0.3092