Table 4-1. Two-level optimization results for synthetic marker data with random
 continuous numerical noise to simulate skin movement artifacts with
 maximum amplitude of 1 cm.

 Synthetic Data Hip Knee Ankle
 with Noise

 Mean marker
 Mean marker 0.474603 + 0.202248 0.392331 + 0.145929 0.514485 + 0.233956
 distance error (cm)

 Mean rotational
 n/a 2.158878 + 1.288703 3.732191 + 3.394553
 parameter error () -

 Mean translational
 0.Mean translational 161318 + 0.039449 0.321930 + 0.127997 0.923724 + 0.471443
parameter error (cm)