Posegraphshavebecomeapopularrepresentationforsolvingthesimultaneouslocalizationandmapping(SLAM)problem.Aposegraphisasetofrobotposesconnectedbynonlinearconstraintsobtainedfromobservationsoffeaturescommontonearbyposes.Optimizinglargeposegraphshasbeenabottleneckformobilerobots,sincethe