General first-order TRE model when using a coordinate reference frame for rigid point-based registration

摘要

Rigid point-based registration technique is widely used in many aspects of image-guided surgery (IGS). Estimating target registration error (TRE) statistics considering a coordinate reference frame (CRF) is of essential value for applications such as optical tracking and image registration. In this paper, we extend the TRE estimation algorithm relative to a CRF to general fiducial localization error (FLE) case. The Monte Carlo simulation results demonstrate the algorithm's effectiveness for both homogeneous and inhomogeneous FLE cases.