Table 1.

Summary of the Target Registration Error (TRE) across cases 1–11 for each registration method (TRE (mm) Mean ± Std. Dev. and Median) operating on the lung- and lesion-centered RoI. Recall that the Case 12 lesion was located within the same lung as the Case 11 lesion, however all landmarks were centered around the Case 11 lesion; hence the deformable registration operating on the Case 11 lesion-centered RoI cannot be evaluated using the landmarks surrounding Case 11.)

TRE (mm)	Lung RoI		Lesion RoI
	μ±σ	Median	μ±σ	Median
Rigid Intensity	2.57±1.85	2.04	1.83±1.33	1.41
Rigid Feature	2.22±1.19	1.98	1.72±1.29	1.35
Affine Intensity	1.82±1.27	1.43	1.42±1.13	1.07
Affine Feature	1.95±1.64	1.44	1.47±1.22	1.10
Non-Rigid	1.17±1.18	0.80	1.14±1.25	0.80
Rigid LSE	1.63±1.14	1.34	1.53±1.16	1.22