Robust Automatic C-Arm Calibration for Fluoroscopy-Based Navigation: A Practical Approach. - Harel Livyatan; Ziv Yaniv; Leo Joskowicz (MICCAI (2), 2002)

Anatomical image-based rigid registration between fluoroscopic X-ray and CT: methods comparison and experimental results. - Leo Joskowicz; Dotan Knaan; Harel Livyatan; Ziv Yaniv; Amal Khoury; Rami Mosheiff; Meir Liebergall (CARS, 2003)

Gradient-Based 2D/3D Rigid Registration of Fluoroscopic X-ray to CT. - Harel Livyatan; Ziv Yaniv; Leo Joskowicz (IEEE Trans. Medical Imaging, 2003)