Table 1.

RMS error of raw MSV estimates for simulated EPI datasets A and B.

Correction cycle	RMSE (mm and °)
	Dataset A (motion applied: tx, ty, tz and θz)						Dataset B (motion applied: θx, θy, θz)
	tx	ty	tz	θ x	θ y	θ z	tx	ty	tz	θ x	θ y	θ z
Distorted	1.05	8.10	0.96	1.63	1.35	0.92	1.17	7.59	2.52	2.92	1.58	1.04
Cycle 0 (κ=0)	0.57	3.14	0.77	1.69	0.88	0.44	0.42	3.15	0.42	2.91	2.60	0.44
Cycle 1 (κ=1)	0.42	0.54	0.29	0.67	0.30	0.31	0.41	0.43	0.24	0.23	0.24	0.13
Cycle 2 (κ=2)	0.41	0.43	0.29	0.27	0.16	0.09	0.40	0.41	0.23	0.21	0.22	0.10
Cycle 3 (κ=3)	0.44	0.47	0.34	0.27	0.19	0.13	0.40	0.42	0.23	0.22	0.22	0.11