Description  Claims  Drawing  Cited references 

WO2015191871A1   [0003] 
US6012458A   [0005] 

Deep Learning for Sensorless 3D Freehand Ultrasound Imaging   [0005] 
Adaptive subgradient methods for online learning and stochastic optimization   [0021] 
Nonlocal means filter-based speckle tracking   [0030] 
Sensorless freehand 3-d ultrasound using regression of the echo intensity   [0030] 
3D freehand ultrasound without external tracking using deep learning   [0046] 
Two-frame motion estimation based on polynomial expansion   [0053] 
3D Freehand Ultrasound: Reconstruction and Spatial Compounding   [0085]