Bladder image stitching algorithm for navigation and referencing using a standard cystoscope by Ming Li, Nicole A. Varble, Sandeep Gurram, Dilara Long, Vladimir Valera, Nikhil Gopal, Ivane Bakhutashvili, Sheridan Reed, William F. Pritchard, John W. Karanian, Sheng Xu, Bradford J. Wood

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