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Table 3 Drift correction results for length. The table shows values for the error in the elevational length of the reconstructed sequences for the various reconstruction methods. Values are in millimetres, with the values in brackets showing the error as a percentage of the correct overall length (determined from the Polaris sensor). For the nonmonotonic data sets, results are shown separately for the forward and reverse sweeps, as indicated by the f and r subscripts respectively.

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

Data set Image-based Six DOF correction Orientation correction
1 0.55 (13.1) 0.11 (2.5) 0.53 (12.5)
2 0.96 (30.5) -0.09 (-2.9) 0.99 (31.6)
3 0.75 (26.3) 0.00 (0.2) 0.75 (26.5)
4 -0.56 (-19.9) 0.05 (1.9) -0.52 (-18.3)
5 -0.16 (-6.8) 0.09 (3.8) -0.19 (-8.0)
6 f 0.28 (14.6) 0.05 (2.9) 0.24 (12.7)
6 r 0.21 (15.6) 0.06 (4.61) 0.22 (16.0)
7 f 0.11 (8.01) 0.01 (0.6) 0.07 (4.9)
7 r 0.56 (29.0) -0.04 (-2.0) 0.51 (26.7)
8 f 0.07 (2.7) 0.05 (2.2) 0.05 (2.0)
8 r -0.18 (-7.6) -0.02 (-1.0) -0.16 (-6.5)
9 f 0.54 (23.9) -0.02 (-1.0) 0.58 (25.5)
9 r -0.40 (-21.7) 0.01 (0.7) -0.43 (-23.4)
10 f 0.05 (3.0) 0.02 (1.4) -0.03 (-1.6)
10 r 0.59 (40.9) -0.00 (-0.1) 0.37 (25.6)
phantom f 1.37 (6.5) -0.23 (-1.1) 0.89 (4.2)
phantom r 0.61 (6.1) -0.05 (-0.5) 0.47 (4.7)