
Untracked 2D Ultrasound In, a Six-DoF Pose on the 3D Volume Out
Untracked 2D ultrasound frame plus a 3D volume in. Rigid six-DoF pose out, no hardware tracker. State-space correspondences then closed-form Kabsch (SCoPE-Reg), IKIM Essen. arXiv:2608.28715.

