Table 2.

Comparison of different models tested on phantom data

Method	Mean $L_1$-error*	Mean relative $L_1$-error**	Mean RMSE*
Discriminative model	$1.969\pm 0.040$	$33.9\pm 0.3$	$2.207\pm 0.037$
pix2pix	$1.943\pm 0.112$	$33.0\pm 1.8$	$2.202\pm 0.110$
Extended pix2pix	$\mathbf{1}.417\pm 0.128$	$\mathbf{24.7}\pm 2.6$	$\mathbf{1}.655\pm 0.081$

*in cm; **in %

Bold values indicate the best performing method