TABLE I:

Average SSIM and RMSE values with standard deviation of the motion compensated reconstructions compared to the motion-free reconstruction, where all volumes were scaled from 0 to 1. 30 degrees and 60 degrees squats are evaluated separately in the topmost two blocks, while the last block shows the average results over all scans. All measures were computed on the whole reconstructed part of the leg, and on the shank resp. thigh only.

	SSIM			RMSE
	Whole Leg	Shank	Thigh	Whole Leg	Shank	Thigh
	30 degrees squat
Uncorrected	0.777 ± 0.089	0.799 ± 0.093	0.742 ± 0.084	0.084 ± 0.029	0.081 ± 0.030	0.088 ± 0.029
Marker-based	0.986 ± 0.002	0.986 ± 0.002	0.984 ± 0.003	0.021 ± 0.006	0.021 ± 0.006	0.022 ± 0.005
Rigid IMU	0.993 ± 0.003	0.993 ± 0.004	0.992 ± 0.004	0.015 ± 0.005	0.015 ± 0.005	0.015 ± 0.005
Non-rigid IMU 2D	0.991 ± 0.003	0.991 ± 0.003	0.992 ± 0.002	0.017 ± 0.005	0.018 ± 0.005	0.016 ± 0.005
Non-rigid IMU 3D	0.994 ±0.002	0.994 ± 0.003	0.994 ± 0.002	0.014 ± 0.004	0.014 ± 0.004	0.013 ± 0.004
	60 degrees squat
Uncorrected	0.777 ± 0.111	0.790 ± 0.090	0.736 ± 0.118	0.079 ± 0.022	0.076 ± 0.020	0.084 ± 0.025
Marker-based	0.982 ± 0.009	0.979 ± 0.012	0.974 ± 0.013	0.026 ± 0.009	0.025 ± 0.009	0.027 ± 0.009
Rigid IMU	0.991 ± 0.006	0.990 ± 0.004	0.987 ± 0.006	0.018 ± 0.006	0.018 ± 0.007	0.019 ± 0.006
Non-rigid IMU 2D	0.989 ± 0.005	0.989 ± 0.005	0.989 ± 0.005	0.018 ± 0.006	0.018 ± 0.006	0.018 ± 0.007
Non-rigid IMU 3D	0.994 ± 0.004	0.991 ± 0.004	0.991 ± 0.004	0.016 ± 0.006	0.017 ± 0.006	0.016 ± 0.006
	All scans
Uncorrected	0.774 ± 0.092	0.794 ± 0.090	0.739 ± 0.098	0.081 ± 0.025	0.078 ± 0.025	0.086 ± 0.026
Marker-based	0.981 ± 0.009	0.982 ± 0.009	0.979 ± 0.011	0.024 ± 0.007	0.023 ± 0.007	0.024 ± 0.008
Rigid IMU	0.991 ± 0.004	0.991 ± 0.004	0.990 ± 0.006	0.017 ± 0.006	0.016 ± 0.006	0.017 ± 0.006
Non-rigid IMU 2D	0.990 ± 0.004	0.990 ± 0.004	0.990 ± 0.004	0.017 ± 0.006	0.018 ± 0.006	0.017 ± 0.006
Non-rigid IMU 3D	0.993 ± 0.004	0.992 ± 0.004	0.993 ± 0.004	0.015 ± 0.005	0.015 ± 0.005	0.014 ± 0.005