Table 3.

Evaluation of the performance for different rotation angels during motion. We evaluate the rotation as noise or as part of the motion, where the ground truth $\Delta s$ is rotated accordingly. The rotation angle ${\alpha }_{\mathit{max}}$ refers to the relative rotation between the initial template volume and the last volume of a sequence. Results are shown for the architecture Five-Path-4D. The errors refer to the translation $\Delta s$ between the template and the last volume of a motion sequence and are given in mm

	${\alpha }_{\mathit{max}}$	MAE $\Delta s_x$	MAE $\Delta s_y$	MAE $\Delta s_z$	rMAE	aCC (%)
Noise	$2^{\circ }$	$0.17\pm 0.18$	$0.13\pm 0.15$	$0.10\pm 0.09$	$0.13\pm 0.14$	98.56
	$5^{\circ }$	$0.19\pm 0.18$	$0.15\pm 0.15$	$0.09\pm 0.09$	$0.14\pm 0.14$	98.44
	${10}^{\circ }$	$0.23\pm 0.19$	$0.16\pm 0.16$	$0.10\pm 0.09$	$0.17\pm 0.14$	97.95
	${20}^{\circ }$	$0.34\pm 0.25$	$0.23\pm 0.20$	$0.10\pm 0.09$	$0.22\pm 0.18$	96.04
Motion	$2^{\circ }$	$0.16\pm 0.18$	$0.13\pm 0.15$	$0.09\pm 0.09$	$0.13\pm 0.14$	98.60
	$5^{\circ }$	$0.16\pm 0.18$	$0.14\pm 0.15$	$0.10\pm 0.09$	$0.14\pm 0.14$	98.55
	${10}^{\circ }$	$0.17\pm 0.18$	$0.16\pm 0.15$	$0.10\pm 0.09$	$0.15\pm 0.14$	98.35
	${20}^{\circ }$	$0.19\pm 0.20$	$0.23\pm 0.19$	$0.10\pm 0.09$	$0.18\pm 0.16$	97.48