@article {Lee2001,
	title = {Novel Algorithms for Robust Registration of Fiducials in CT and MRI},
	journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2001},
	volume = {2208},
	year = {2001},
	pages = {717-724},
	author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian}
}
