Table 1.

Registration performance over the 28-ROI test set.

Metric	Mean ± Std. Dev.	[Low, High]
$e_p$ (mm)	2.2 mm ± 2.3 mm	[0.2 mm, 11.8 mm]
$e_N$ (mm)	4.3 mm ± 3.0 mm	[1.1 mm, 11.7 mm]
$e_d$ (${}^{\circ }$)	11.8${}^{\circ }$ ± 8.8${}^{\circ }$	[0.4${}^{\circ }$, 41.3${}^{\circ }$]