Pose data includes multiple pose samples, where each pose sample indicates a reported location of a device at a respective time, and where the multiple pose samples describe a trajectory of the device. To correct the pose data, pose modification data for some of the pose samples is received, indicating respective modifications of the pose samples by a user. Several other pose samples are automatically modified in view of the received pose modification data. To automatically modify the pose samples, one or more user modification constraints are applied, where each user modification constraint seeks to preserve the modification of the location of the device for a respective pose sample. One or more location constraints are also applied, each of which seeks to preserve the reported location of the device for a respective pose sample. Modified pose data is generated in view of the user modification constraints and the location constraints.