Proposed

algorithm

Constant-ratio threshold algorithms

Large

Small

Detection rate [%]

99.5 (89.7 - 100)

91.0 (11.4 - 100)

96.1 (62.9 - 100)

Positional error [mm]

Left-right

0.16 (0.11 - 0.39)

0.16 (0.11 - 5.52)

2.62 (0.12 - 16.62)

Cranio-caudal

0.16 (0.10 - 0.25)

0.16 (0.10 - 3.47)

2.16 (0.10 - 32.36)

Anterior-posterior

0.21 (0.12 - 0.39)

0.21 (0.12 - 3.14)

1.87 (0.13 - 21.20)

Detection rate under an error of 1.0 mm [%]

99.5 (89.7 - 100)

90.9 (11.4 - 100)

94.7 (62.9 - 100)