Table 1.

Parameters used in Mjolnir in the following experiments.

	Resolution
Parameters	Low	Mid	High
R G (voxels): radius of spherical neighborhood in GMI computations	3	3	7
D (voxels): defines the size of the search region for finding correspondences (see R s below)	12	10	8
maxIter: the maximum number of iterations		maxIter = 50
iter ∈ (0 : maxIter): the current iteration
α = iter/maxIter
R s (voxels): radius of spherical search neighborhood	R s = 0.5D e α2/0.32 + 1
t vox: similarity threshold for voxel similarity	t vox = 0.8(1 − α) + 0.01
t vol: similarity threshold for average volume similarity	t vol = 0.6(1 − α) + 0.01
σ: the variance of the Gaussian kernel	σ = R s/3
w1: weight in displacement field	w1 = 0.7
w2: weight in displacement field	w2 = 0.3
g: smoothing control in interpolation PDE	g = 0.8 − (0.8 − 0.45)α