Table 3.

The registration results of the VF method, the uniform and nonuniform models using landmarks.

			Average spatial error of registration (mm)
C	Lungs	Models/methods	3D- Euclidean	Left–right	Anterior–posterior	Superior–inferior
1	LL	VF	1.13 (0.92)	0.47 (0.50)	0.44 (0.48)	0.69 (0.89)
		Uniform	2.15 (1.67)	1.10 (1.13)	0.64 (0.56)	1.39 (1.49)
		Nonuniform	1.15 (0.87)	0.48 (0.52)	0.44 (0.48)	0.69 (0.82)
	RL	VF	1.24 (2.18)	0.56 (1.92)	0.46 (0.53)	0.65 (1.18)
		Uniform	2.83 (1.93)	0.94 (0.81)	1.30 (1.22)	1.96 (1.79)
		Nonuniform	1.12 (0.81)	0.48 (0.48)	0.46 (0.46)	0.65 (0.80)
2	LL	VF	1.83 (2.17)	0.93 (1.64)	0.71 (0.89)	1.00 (1.50)
		Uniform	4.61 (4.15)	2.25 (2.39)	1.43 (1.31)	2.98 (3.88)
		Nonuniform	1.76 (1.52)	0.86 (1.08)	0.69 (0.72)	1.03 (1.21)
	RL	VF	1.45 (2.77)	0.62 (0.80)	0.48 (0.65)	0.88 (2.71)
		Uniform	3.22 (3.33)	1.26 (1.25)	0.99 (1.26)	2.37 (3.18)
		Nonuniform	1.22 (1.06)	0.58 (0.61)	0.43 (0.48)	0.71 (1.00)
3	LL	VF	1.09 (0.77)	0.45 (0.42)	0.44 (0.40)	0.65 (0.80)
		Uniform	2.66 (1.40)	1.24 (0.86)	1.06 (0.95)	1.69 (1.36)
		Nonuniform	1.17 (0.76)	0.50 (0.48)	0.52 (0.50)	0.68 (0.69)
	RL	VF	1.50 (1.13)	0.67 (0.59)	0.62 (0.61)	0.82 (1.11)
		Uniform	4.28 (2.27)	1.94 (1.62)	1.30 (1.04)	2.91 (2.43)
		Nonuniform	1.59 (1.06)	0.69 (0.59)	0.62 (0.59)	1.03 (1.02)
4	LL	VF	1.44 (2.35)	0.72 (1.40)	0.56 (0.85)	0.77 (1.87)
		Uniform	4.79 (5.35)	2.70 (3.78)	1.64 (1.83)	2.71 (4.08)
		Nonuniform	1.17 (0.78)	0.53 (0.49)	0.50 (0.50)	0.64 (0.75)
	RL	VF	1.34 (0.98)	0.64 (0.68)	0.47 (0.46)	0.79 (0.91)
		Uniform	3.20 (1.62)	2.07 (1.69)	1.20 (0.94)	1.50 (1.07)
		Nonuniform	1.40 (0.94)	0.69 (0.66)	0.66 (0.49)	0.87 (0.81)
5	LL	VF	1.01 (1.48)	0.32 (0.53)	0.36 (0.72)	0.64 (1.33)
		Uniform	1.40 (1.79)	0.43 (0.42)	0.56 (0.97)	1.02 (1.59)
		Nonuniform	1.09 (1.01)	0.42 (0.61)	0.35 (0.39)	0.69 (0.95)
	RL	VF	0.98 (0.91)	0.41 (0.53)	0.38 (0.45)	0.51 (0.87)
		Uniform	1.21 (0.64)	0.51 (0.45)	0.45 (0.37)	0.84 (0.61)
		Nonuniform	1.00 (0.81)	0.42 (0.45)	0.38 (0.39)	0.57 (0.81)
6	LL	VF	1.69 (2.87)	0.67 (0.90)	0.89 (2.73)	0.79 (0.99)
		Uniform	3.06 (2.13)	1.23 (1.24)	1.13 (1.29)	2.12 (1.87)
		Nonuniform	1.49 (1.01)	0.71 (0.73)	0.66 (0.64)	0.84 (0.81)
	RL	VF	1.43 (1.16)	0.66 (0.68)	0.51 (0.55)	0.90 (1.06)
		Uniform	3.15 (2.06)	1.40 (1.42)	0.98 (0.80)	2.28 (1.84)
		Nonuniform	1.45 (1.06)	0.66 (0.67)	0.49 (0.46)	0.97 (0.97)
	Average	VF	1.34 (1.64)	0.59 (0.88)	0.53 (0.78)	0.76 (1.27)
		Uniform	3.05 (2.36)	1.42 (1.42)	1.06 (1.05)	1.98 (2.10)
		Nonuniform	1.30 (0.97)	0.59 (0.61)	0.52 (0.51)	0.78 (0.89)