Figure 10: Optimization function values along sections through the ground-truth position. The sections were done along the viewing direction of the detector in plane A, the corresponding orthogonal direction in the transverse plane, and the -axis of the patient coordinate system which corresponds to the cranial-caudal axis. The intersections are shown for three different frames: (a) one of the first frames of an initial injection (see Figure 3), (b) a frame of the same injection but with large parts of the left atrium contrasted, and (c) a secondary injection into a pulmonary vein (see Figure 1(g)). The plots for were left out as they look very similar to those for .