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 mm7.7 ± 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 mm7.3 ± 5.2 mm