RA and Dec of Near-Earth-Objects
If the RA and Dec in question are geocentric, then they are relative to the ECI origin.
The difference between heliocentric and geocentric positions is significant for any solar system object; on a baseline of 1.0 au, a trans-Neptunian object at 40 au has a parallax of 1.4°.
However, for near-Earth objects, the observer's location on Earth is also significant.
An asteroid passing at 0.01 au has a parallax of 0.24° on a baseline of 6370 km.
The Minor Planet Center lists observations and generates ephemerides in topocentric coordinates.