This model illustrates our in-house QA phantom in its initial state (blue), which serves as the reference for ICP tracking. Superimposed in orange is a longitudinally shifted frame (+10 mm), precisely aligned to visualize the system's detection accuracy. To ensure a clean, artifact-free representation, the shifted point cloud was first constrained manually by a Bounding Box (ROI), that includes our phantom, and the phantom surface itself was isolated from background noise using the DBSCAN algorithm.