Conventional marker based optical motion capture (mocap) methods for estimating the position and orientation (pose) of anatomical segments use assumptions that anatomical segments are rigid bodies and the position of tracking markers is invariant relative to bones. Soft tissue artefact (STA) is the error in pose estimation due to markers secured to soft tissue that moves relative to bones. STA is a major source of pose estimation error and is most prevalent when markers are placed over joints. Mocap and bi-plane videoradiography data were recorded synchronously while three individuals walked on a treadmill. For all three, pose of the thigh and shank, and movement of markers relative to the bones, were determined from the videoradiography data (DSX, C-Motion). Independently, pose of thighs and shanks was estimated using mocap data (Visual3D, C-Motion). Our measures of error in the mocap pose estimation were the relative thigh and shank translations. X-ray data from two subjects were used to generate a regression model for the antero/posterior movement of the lateral knee marker against internal/external hip rotation. The mocap translation errors of the third subject, attributed to STA of the knee marker, were 15.6mm and 32.0mm respectively. The pose of the third subject was then estimated using a probabilistic algorithm incorporating our regression model. Mocap translation errors were reduced to 10.6mm (thigh) and 4.4mm (shank). The results from these data suggest that errors in pose estimation due to STA may possibly be reduced via the application of algorithms based on probabilistic inference to mocap data.