Automatic correction of trajectory data

A pose correction engine for modifying a trajectory of a device, the pose correction engine comprising:

• an interface module configured to receive (i) pose data that includes a plurality of pose samples, wherein each pose sample indicates at least a reported location of a device at a respective time, and wherein the plurality of pose samples describes the trajectory of the device, and (ii) pose modification data for a first set of one or more of the plurality of pose samples, wherein the received pose modification data indicates a respective modification by a user of each pose sample in the first set of pose samples;
• a user modification term generator configured to generate a respective user modification term for each pose sample in the first set of pose samples, wherein each user modification term represents a respective user modification constraint that seeks to preserve the modification by the user for the corresponding pose sample;
• a location term generator configured to generate a respective location term for each pose sample in a second set of one or more of the plurality of pose samples, wherein the second set of pose samples includes one or more pose samples not included in the first set of pose samples, wherein each location term represents a respective location constraint that seeks to preserve the reported location of the device for the corresponding pose sample;
• and
• a pose optimizer module communicatively coupled to the user modification term generator and the location term generator, wherein the pose optimizer module is configured to modify at least some of the plurality of pose samples using the one or more user modification terms and the one or more location terms to generate modified pose data;
• whereby the modified pose data optimally agrees with the pose modification data and the received pose data in view of the one or more user modification constraints and the one or more location constraints.

A trajectory correction system, comprising:

• a database configured to store pose data that includes a plurality of pose samples, wherein each pose sample indicates at least a reported location of a device at a respective time, and wherein the plurality of pose samples describes a trajectory of the device in a three-dimensional space;
• a pose rendering engine communicatively coupled to the database and configured to:
• provide an interactive user interface via which a user can modify one or more pose samples, and
• receive pose modification data from the interactive user interface for a first set of one or more of the plurality of pose samples;
• wherein the received pose modification data indicates a respective modification of each pose sample included in the first set;
• the trajectory correction system further comprising:
• a pose correction engine communicatively coupled to the database and to the pose rendering engine, wherein the pose correction engine is configured to:
• receive the pose modification data, and
• automatically modify each pose sample in a second set of one or more of the plurality of pose samples in view of the received pose modification data to generate modified pose data, wherein the second set includes at least one pose sample not included in the first set.