Say I have 3 set of 3D coordinate points. Let a object at First X1=(x1,y1,z1) moved to X2=(x2,y2,z2). From X1 to X2 say the transformation(R,T) is calculated which may give X2=R1*X1+T. Due to noise there can be error is the equation of values of R, T. How is this error used in correcting the R, T values.