Table 2.

Experimentally determined mean±standard deviation for localization error as Euclidian distance, trajectory and completion time

System	Euclidean distance	Trajectory	Completion time
	(mm)	(cm)	(s)
IGS	$3.98\pm 1.25$	$84\pm 74$	$65\pm 26$
VG	$2.32\pm 0.61$	$114\pm 54$	$86\pm 19$
IGS+VG	$3.06\pm 0.88$	$34\pm 5$	$42\pm 11$