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This thesis presents a low-cost camera-based tracking system for accurately estimating the 6-DoF trajectory of an ultrasound (US) transducer for freehand three-dimensional (3D) ultrasound imaging. The system utilizes two orthogonal cameras mounted on the US transducer to track artificial features attached to the patient’s skin for robust pose estimation. The performance is evaluated through in-vitro experiments, demonstrating high accuracy and potential as an alternative to existing tracking...
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