Fig. 6From: Estimating intrafraction tumor motion during fiducial-based liver stereotactic radiotherapy via an iterative closest point (ICP) algorithmFiducial registration residual errors in the (a) Left-Right LR (|ex|), (b) Anterior-Posterior AP (|ey|), (c) Superior-Inferior SI (|ez|) directions, respectively. (d) Residual errors in 3D space (|er|). The blue area indicates with translational corrections only; the red area indicates with rigid correctionsBack to article page