Table 4.

The estimated 6-DOF translations and rotations for the simulated complex motion case in Table 2. Five noise realizations of the complex motion case at four count levels- 4, 5, 6 and 7 million were used to generate error-bars for each cost function.

Cost Function	Tx (mm)	Ty (mm)	Tz (mm)	Rotx (deg)	Roty (deg)	Rotz (deg)	AvDistErr
MSD	13.32±3.50	−1.67±1.45	0.68±1.08	−0.66±0.31	−0.60±0.93	1.03±1.30	6.40±1.46
NCC	12.56±2.17	−2.51±1.70	0.12±1.05	−0.49±0.93	−1.04±0.46	1.82±1.88	6.61±0.50
PI	13.50±2.13	−2.01±1.24	1.05±0.75	−0.89±0.40	−1.57±0.78	1.60±1.01	5.30±0.68
NMI	16.91±1.56	−4.21±1.68	−0.11±1.02	−0.25±0.51	−0.69±0.95	2.20±1.63	5.46±1.55
MI	17.24±1.90	−4.90±0.67	−0.34±0.45	0.24±0.33	−0.79±0.19	2.62±1.95	4.32±1.10
Truth	17.62	1.70	1.15	0.84	0.94	−3.61	0.00