Table 3: Translation errors for temporal filtered frames.

Objective function Initial injection Subsequent injections

Thivierge-Gaulin 9.5 ± 6.2 mm 7.2 ± 3.0 mm
7.5 ± 4.1 mm 7.7 ± 3.5 mm
7.5 ± 4.8 mm 9.1 ± 5.6 mm
9.7 ± 7.1 mm 12.9 ± 7.6 mm
6.1 ± 4.1 mm 6.2 ± 3.1 mm

6.5 ± 4.3 mm 7.4 ± 3.3 mm
6.1 ± 4.4 mm 8.1 ± 3.7 mm
5.7 ± 4.6 mm6.6 ± 3.6 mm