Table 1.

Performance comparison for estimated trajectories employing the proposed method. Results are reported as mean error ± standard deviation.

Subject #	Sequence	Translation error (mm)	Orientation error (rad)	% of Localized Cameras
1	Undisturbed Anatomy	3.33 ± 2.33	0.2 ± 0.14	27.42
	Progression Step # 1	2.28 ± 1.21	0.22 ± 0.14	19.68
	Progression Step # 2	2.6 ± 1.43	0.26 ± 0.16	6.85
2	Undisturbed Anatomy	4.76 ± 1.69	0.17 ± 0.07	14.04
	Progression Step # 1	3.87 ± 0.81	0.31 ± 0.12	13.69
	Progression Step # 2	6.4 ± 3.08	0.28 ± 0.16	49.47