Figure 1.

Figure shows two data-driven estimation schemes adapted from Kyme et al (2003) in this work. The cost functions investigated to optimize the transformations were 1) mean-squared difference (MSD), 2) total mutual information (MI), 3) total normalized mutual information (NMI), 4) average pattern intensity (PI) 5) normalized cross-correlation (NCC) and 6) entropy of the difference (EDI). (a) Scheme A: the cost function only includes the projections in motion group M_i for estimating ${\mathbf{T}}_{\mathbf{0}}^{\mathbf{i}}$. (b) Scheme B: the cost function includes projections at motion group M_i as well as M₀ for estimating ${\mathbf{T}}_{\mathbf{0}}^{\mathbf{i}}$. This extra step is shown by red arrows.