  Relativistic prescriptions relating Sachs form factors to nucleon charge and
magnetization densities are used to fit recent data for both the proton and the
neutron. The analysis uses expansions in complete radial bases to minimize
model dependence and to estimate the uncertainties in radial densities due to
limitation of the range of momentum transfer. We find that the charge
distribution for the proton is significantly broad than its magnetization
density and that the magnetization density is slightly broader for the neutron
than the proton. The neutron charge form factor is consistent with the Galster
parametrization over the available range of Q^2, but relativistic inversion
produces a softer radial density. Discrete ambiguities in the inversion method
are analyzed in detail. The method of Mitra and Kumari ensures compatibility
with pQCD and is most useful for extrapolating form factors to large Q^2.
