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Relative quaternion to global with uncertainty

in this perfect tutorial i found how i can compose two poses with uncertainty and how i can transform one representation to another with uncertainty http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf. Let's suppose I have one global point which represent 6 dof and 6 confidence and one relative transformation also representing by 6 dof and 6 confidence. How can I accumulate this relative transformation with uncertainty. For example, if I have only 6 dof without confidence I need to just transform 6dof to SE3 matrix and multiply global matrix to relative matrix and get new global matrix.