Table 1.

Comparison with stat-of-the-art RL (Ghesu et al., 2016, 2019) and supervised (Li et al., 2018) for detecting the cavum septum pellucidum point in fetal ultrasound images. Distance errors are in mm. Bold text shows the highest achieved localization accuracy for each landmark

A. State-of-the-art Results
RL Fixed-scale (Ghesu et al., 2016)	RL Multi-scale (Ghesu et al., 2019)	Supervised PIN Single-Landmark (Li et al., 2018)	Supervised PIN Multiple-Landmarks (Li et al., 2018)
7.37 ± 5.86	6.51 ± 5.41	5.47 ± 4.23	5.50 ± 2.79

B. Our Results
	DQN	DDQN	Duel DQN	Duel DDQN
Fixed-Scale	4.95 ± 3.09	5.01 ± 2.48	6.29 ± 3.95	5.12 ± 3.15
Multi-Scale	3.66 ± 2.11	4.02 ± 2.20	4.17±2.62	4.02 ± 1.55