3D volumetric reconstruction from 2D images with 6DOF information offline

Hello, Does anyone know if I can reconstruct a 3D volumetric image with 2D images, of which the world coordinates and the rotation matrix (yaw, pitch, and row) are known? I want to do something like what SlicerIGT does, but I already have the images and 6DOF data and want to process them offline.
Any suggestions would be appreciated!

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Hello guys,

To better understand, the ultrasound images and the world coordinates are attached for your reference. Thanks! :grinning: As you might notice, the coordinates are recorded by time series, i.e., 5fps.
US0

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