. Author manuscript; available in PMC: 2019 Jan 1.

Published in final edited form as: IEEE Trans Biomed Eng. 2017 Apr 12;65(1):52–63. doi: 10.1109/TBME.2017.2688919

Table III.

Comparing Localization Performances in Terms of RMSE in Tracer Position (P) and Orientation (O), Obtained for Each Evaluation Dataset with Different Algorithms. The Lowest RMSE for Each Dataset Is in Bold Italics.

Evaluation	LIN[13]		LIN+LM [18]		NM [10]		JCLNSR		JCL
Datasets	P(mm)	O(deg.)	P(mm)	O(deg.)	P(mm)	O(deg.)	P(mm)	O(deg.)	P(mm)	O(deg.)
D2	3.22	14.03	1.39	3.97	0.99	2.46	0.52	2.53	*0.47*	*2.20*
D3	1.24	3.86	0.54	1.40	0.52	1.19	*0.39*	0.66	*0.39*	*0.65*
D4	1.49	3.59	0.63	2.23	0.62	2.43	*0.43*	*1.50*	*0.43*	1.53
D5	1.60	3.63	0.51	1.30	0.51	*1.21*	*0.39*	1.41	0.40	1.60
D6	2.54	7.78	0.98	*2.63*	0.99	4.10	*0.43*	3.07	0.45	2.81
D7	2.21	9.79	1.61	4.63	1.20	3.93	0.68	*3.38*	*0.63*	3.39
D8	2.72	12.10	1.40	5.16	1.32	3.96	0.61	2.29	*0.59*	*2.23*
D9	4.48	15.55	1.23	4.72	0.95	3.96	0.62	*2.70*	*0.53*	2.73
D10	2.65	10.75	1.44	4.19	1.14	2.90	0.45	*0.97*	*0.43*	0.98
D11	1.52	6.41	0.62	*3.35*	0.57	4.40	*0.27*	3.66	0.28	3.49
D12	1.24	7.86	1.25	3.99	1.05	*3.47*	0.59	3.63	*0.49*	3.55
D13	1.62	11.75	1.07	5.69	0.89	4.31	0.50	4.05	*0.44*	*3.70*
D14	2.84	13.39	1.21	4.85	0.85	3.87	0.59	*2.94*	*0.50*	*2.94*
D15	1.51	9.28	1.04	4.16	0.75	2.92	0.30	0.97	*0.29*	*0.81*

Avg.	2.21	9.27	1.07	3.73	0.88	3.22	0.48	2.41	*0.45*	*2.33*
Std.	0.93	3.93	0.36	1.37	0.26	1.08	0.12	1.13	0.10	1.06