Table 2.

Summary of results for the large scale perturbation robustness trials using the phantom dataset shown in Fig. 5. The number of successful trials (out of 250), RMS residual and TRE over all trails, and RMS residual and TRE over successful trials is reported for each registration method. A successful trial is determined as that which yields a TRE of less than 5.0 mm. For reference, the gold standard ICP registration for the phantom yielded RMS residual and TRE values of 0.6 and 2.3 mm, respectively.

				Successful reg.
Registration method	Success (No.)	Residual (mm)	TRE (mm)	Residual (mm)	TRE (mm)
ICP	11 (4.4%)	5.4±2.4	229.7±64.7	0.6±0.002	2.5±0.3
PICP	123 (49.2%)	4.6±4.9	150.7±146.8	0.6±0.01	2.9±0.3
PICP2	250 (100%)	0.7±0.003	2.9±0.5	0.7±0.003	2.9±0.5