Table 2.

Quantitative analysis of registration accuracy on 12 datasets.

	Unregistered			Model-driven			Image-driven
Set	Median TRE	TRE ${\mathrm{CI}}_{95}^{\mathrm{ub}}$	NCC	Median TRE	TRE ${\mathrm{CI}}_{95}^{\mathrm{ub}}$	NCC	Median TRE	TRE ${\mathrm{CI}}_{95}^{\mathrm{ub}}$	NCC
1–4	7.6	15.9	0.27	1.9	5	0.42	0.6	4.1	0.63
1–5	10.5	16.1	0.17	1.9	4.8	0.35	0.8	3.7	0.56
1–6	10.5	16.2	0.14	2.7	6.1	0.3	2.1	5.1	0.5
1–7	15.7	22.2	0.14	2.9	6.9	0.34	1.2	6.9	0.53
2–4	8.1	13.9	0.32	2.8	6.7	0.43	2.2	6.3	0.59
2–5	10	16.4	0.19	2.8	6.7	0.39	1.5	7.5	0.55
2–6	9.9	16.6	0.13	3.3	10.5	0.34	2.5	10.2	0.5
2–7	16.4	23.9	0.16	2.8	8.7	0.4	1.7	8.5	0.55
3–4	19.3	21.4	0.2	2.7	7.6	0.43	1.7	6.7	0.59
3–5	20.9	23.3	0.06	2.1	5.4	0.34	1.5	4.4	0.5
3–6	21.1	23.1	0.11	3.1	7.6	0.33	2.6	6.9	0.48
3–7	7.8	11	0.21	3.3	6.7	0.35	1.5	5.9	0.53
Total	9.7	21.8	0.18	2.3	6.8	0.37	1.2	6.2	0.54