Table 5 Registration accuracy assessment methods

[8, 18, 21, 27, 29, 31] [17, 35, 36, 39, 47, 61, 71, 78, 85, 87]

Root mean square error(RMS)

or

Mean square error (MSE)

[20]

Residual error and standard deviation

[22, 38,39,40,41]

Target registration error (TRE)

[28, 33]

Success rate(SR)

[30, 31]

Median error (MEE), Maximum error(MAE) and RMS

[41, 42]

TRE and Surface registration error (SRE)