. Author manuscript; available in PMC: 2020 Oct 21.

Published in final edited form as: Med Image Comput Comput Assist Interv. 2020 Sep 29;12266:468–477. doi: 10.1007/978-3-030-59725-2_45

Table 1.

Root mean squared error (RMSE) in the x-y-z direction. Lower RMSE means better performance

Method	Ux (mm)	Uy (mm)	Uz (mm)
NRR	0.95± 0.38	1.06± 0.34	0.62±0.17
LK	0.85 ± 0.37	0.91 ± 0.38	0.58 ± 0.17
ST	0.81 ± 0.32	0.72 ± 0.40	0.63 ± 0.21
Unsup+Shape	0.80 ± 0.33	0.70 ± 0.33	0.60 ± 0.18
Unsup	1.07 ± 0.42	1.31 ± 0.41	0.74 ± 0.17
Proposed model	0.79 ± 0.33	0.70 ± 0.36	0.62 ± 0.20