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reparameterized at times 0 < ... tm < tm+1... < 1. The M warps mapping the full surface system and surrounding volume from one time point to the next are concatenated to produce the final transformation. This incremental evolution of the transformation is visualized in a published video [115]. Extensions of the core algorithm to include continuum-mechanical, and other filter-based models of deformation (cf. [26,46,65,96]) have yielded similar encouraging results. Experiments illustrating the performance of the algorithm on MRI data are shown in Fig. 7.

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