. Author manuscript; available in PMC: 2023 Jul 10.

Published in final edited form as: Int J Comput Assist Radiol Surg. 2023 Apr 20;18(6):1025–1032. doi: 10.1007/s11548-023-02893-3

Table 2.

Assessment of mean feature extraction time (seconds) and RE(mm) upon integration of descriptors with a RANSAC-ICP registration algorithm. *p < 0.05 indicates a statistically significant improvement in the registration achieved using LiverMatch relative to the other descriptor methods.

	Feature extraction time (s)	Registration method	RE (mm)
*FPFH[20]	0.06	RANSAC+ICP	86.28 ± 49.15
*Predator[12]	0.26		8.88 ± 12.19
LiverMatch	0.07		4.83 ± 3.11
Ground Truth	-		3.89 ± 2.08