Table 4.

Speed and accuracy of the 6-filament and the single-point models used in a real electromagnetic tracking experiment. Scatter plot of the error is shown in Figure 15. Computation time is calculated as the average solution time for the 49 test points.

Test	Model	Time [s]	RMSE [mm]	ME [mm]
$z=10\mathrm{cm},\theta =0^{\circ }$	6-filament	0.1420	0.54	0.49
	single-point	0.0091	1.54	1.31
$z=10\mathrm{cm},\theta ={30}^{\circ }$	6-filament	0.1483	0.63	0.52
	single-point	0.0094	1.92	1.57
$z=20\mathrm{cm},\theta =0^{\circ }$	6-filament	0.1541	0.58	0.52
	single-point	0.0098	2.47	2.23
$z=20\mathrm{cm},\theta ={30}^{\circ }$	6-filament	0.1488	0.57	0.48
	single-point	0.0097	2.29	2.07