Contrast-Based 3D/2D Registration of the Left Atrium: Fast versus Consistent

Table 2

Translation errors for a single automatically chosen frame as described in (14) and (15).

Objective function	Initial injection	Subsequent injections
Thivierge-Gaulin	8.3 ± 8.2 mm	10.6 ± 4.4 mm
	5.1 ± 3.8 mm	9.6 ± 5.1 mm
	7.1 ± 4.3 mm	8.1 ± 6.6 mm
	14.1 ± 10.0 mm	12.1 ± 9.1 mm
	6.0 ± 5.0 mm	7.0 ± 3.8 mm
	5.0 ± 5.0 mm	7.7 ± 4.9 mm
	5.1 ± 4.2 mm	8.5 ± 4.7 mm
	4.8 ± 4.6 mm	7.8 ± 5.7 mm
	6.1 ± 5.8 mm	7.6 ± 5.5 mm
	4.6 ± 4.0 mm	7.3 ± 5.2 mm