Table 1.
Summary of optimization parameter
| Downsampled image size | 160 × 128 |
| Number of multi-starts | 20 |
| Population size | 100 |
| Search range (tx, ty, tz, θx, θy, θz) | (5 mm, 5 mm, 5 mm, 15°, 15°, 15°) |
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