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Registration performance (using MSD) versus total image noise for the heteroscedastic case: (A) soft tissue image and (B) head phantom image. Each circle represents the RMSE for a specific I1,I2 dose level combination, with connected circles of the same color indicating the same mAs for the low-dose image. The colorscale and labels denote the mAs for the lower-dose image. The CRLB (dashed) and CRLBN̂≪G (magenta) formulations are also plotted.
