Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System. - Eser Erdem Tuna; Nate Lombard Poirot; Juana Barrera Bayona; Dominique Franson; Sherry Huang; Julian Narvaez; Nicole Seiberlich; Mark A. Griswold; Murat Cenk Çavusoglu (IROS, 2020)