A Time-Varying Seasonal Autoregressive Model-Based Prediction of Respiratory Motion for Tumor following Radiotherapy

Table 3

Average and standard deviation of mean absolute error for each tested prediction method at sampling frequency 𝐹_𝑠=30 Hz.

Prediction horizon		Average and standard deviation of mean absolute error 𝜇MAE±𝜎MAE (mm)
ℎ	ℎ/𝐹𝑠 (s)	ZOH	SSA	KDE	SAR	TVSAR(a)	TVSAR(b)
5	0.167	1.248±0.008	0.548±0.051	0.764±0.021	0.833±0.034	0.790±0.011	0.466 ± 0.017
10	0.333	2.394±0.026	0.781±0.072	0.953±0.029	0.896±0.021	0.846±0.019	0.653 ± 0.016
15	0.500	3.446±0.047	1.086±0.094	1.047±0.054	0.940±0.011	0.889±0.027	0.787 ± 0.037
20	0.667	4.387±0.068	1.299±0.099	1.087±0.059	0.966±0.010	0.918±0.032	0.876 ± 0.047
25	0.833	5.188±0.091	1.305±0.066	1.078±0.048	0.983±0.018	0.941±0.037	0.920 ± 0.052
30	1.000	5.834±0.111	1.177±0.039	0.999±0.056	1.011±0.021	0.965±0.039	0.931 ± 0.055