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Kalman filter-based EM-optical sensor fusion for needle def..:

Jiang, Baichuan ; Gao, Wenpeng ; Kacher, Daniel...
International Journal of Computer Assisted Radiology and Surgery.  13 (2018)  4 - p. 573-583 , 2018
Link: https://doi.org/10.1007/s11548-018-1708-8