Error propagation for relative motion determined from marker positions

In this paper, the error propagation for relative motion reconstructed from noisy marker position data was investigated, particularly the influence of the distance between two rigid bodies was explored. Based on a mathematical derivation, an error propagation model for relative motion was proposed and computer simulations were used to validate the proposed model. The results indicated that the error in the translation components for relative motion between two rigid bodies are proportional to the distance between the rigid bodies. The maximum absolute difference between the model and the simulation is 0.58% which strongly validated the accuracy of the error propagation model.