Contextualization and refinement of simultaneous localization and mapping

A computing system comprising:

• one or more processors;
• and
• a memory storing instructions that, when executed by the one or more processors, cause the computing system to perform:
• obtaining sensor data from a sensor of a vehicle, the sensor data including point cloud frames at different positions, orientations, and times, the sensor data used to generate a map;
• determining a position and an orientation of the sensor corresponding to a capture of each of the point cloud frames according to a simultaneous localization and mapping (SLAM) algorithm;
• and
• depicting, on an interface, a graphical illustration of the determined positions at which the point cloud frames were captured, wherein the graphical illustration includes trajectory points indicating the determined positions and connectors connecting the trajectory points to indicate loop closure constraints among the trajectory points;
• receiving a selection of a loop closure constraint;
• and
• in response to receiving the selection of the loop closure constraint, displaying data of the loop closure constraint, the data indicating second trajectory points subject to the loop closure constraint.