Table 2.

The quantitative comparative results for the 3Dircadb1 dataset as mean and standard deviation.

Method	VOE (%)	SRVD (%)	ASD (mm)	RMSD (mm)	MSD (mm)
Chung31	12.99 ± 5.04	−5.66 ± 5.59	2.24 ± 1.08	—	25.74 ± 8.85
Kirschner32	—	−3.62 ± 5.50	1.94 ± 1.10	4.47 ± 3.30	34.60 ± 17.70
Foruzan33	10.39 ± 2.45	1.48 ± 3.59	1.66 ± 0.48	3.68 ± 1.54	35.80 ± 16.00
Lu34	9.36 ± 3.34	0.97 ± 3.26	1.89 ± 1.08	4.15 ± 3.16	33.14 ± 16.36
Initialization	16.22 ± 5.11	7.42 ± 6.03	4.03 ± 1.94	7.09 ± 3.53	41.02 ± 16.74
Final Result	9.21 ± 2.64	1.27 ± 3.85	1.75 ± 1.41	3.95 ± 2.26	36.17 ± 15.90