@misc{indiciae73bd5b53ccbb,
  title = {Estimation of surface pose with a physically-based ultrasonic image model.},
  author = {Jason W Trobaugh and R Martin Arthur},
  year = {2004},
  doi = {10.1109/tuffc.2004.1334845},
  url = {https://pubmed.ncbi.nlm.nih.gov/15478974/},
  note = {Source identifier: 15478974}
}