@article{qiu2018estimating,
  title={Estimating maximum target registration error under uniform restriction of fiducial localization error in image guided system},
  author={Qiu, Lei and Zhang, Yu and Xu, Lihui and Niu, Xiaohui and Zhang, Qing and Zhang, Li},
  journal={IEEE Transactions on Medical Imaging},
  volume={37},
  number={4},
  pages={881--892},
  year={2018},
  publisher={IEEE}
}