Bootstrapped ultrasound calibration. Boctor, E. M, Iordachita, I., Choti, M. A, Hager, G., & Fichtinger, G. Stud Health Technol Inform, 119:61–66, 2006.
bibtex   
@article{boctor2006bootstrapped,
  title={Bootstrapped ultrasound calibration},
  author={Boctor, Emad M and Iordachita, Iulian and Choti, Michael A and Hager, Gregory and Fichtinger, Gabor},
  journal={Stud Health Technol Inform},
  volume={119},
  pages={61--66},
  year={2006}
}

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