X. Chen, L. Wang, P. Fallavollita, N. Navab Error analysis of the x-ray projection geometry of camera-augmented mobile C-arm SPIE Medical Imaging, San Diego, California, USA, February 2012 (bib)
	The Camera-Augmented Mobile C-arm (CamC) augments X-ray by camera images and is calibrated in a suboptimal way for X-ray to be warped onto optical images in order to align them and have common projection geometry. We investigated and compared calibration and distortion correction accuracy of: (i) the existing CAMC method (ii) Zhang's method for optical cameras, and (iii) traditional C-arm method. The RMS errors based on a synthetic model and pose estimation shows that the traditional C-arm method (µ=0.39 pixels) outperforms Zhang (µ=0.68 pixels) and CAMC (µ=1.07 pixels) methods.
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