Epi RMSE (mm) Endo RMSE (mm) 2.47294 2.76237 2.7791 3.14815 3.13559 3.51448 3.47905 3.76913 3.7497 3.88164 3.89196 3.85972 4.04239 3.89377 4.25339 4.0259 4.45045 4.37509 4.65082 4.68633 4.71573 4.77545 4.61115 4.80774