MAP ANNOTATION MODIFICATION USING SPARSE POSE GRAPH NODE UPDATES

Relocating and/or re-sizing map elements using an updated pose graph without introducing abnormalities to the map data may comprise determining a transformation between a source node of a first pose graph and a target node of a second pose graph and determining a modification to a map element based at least in part on the transformation. The techniques may include determining a stress on the map based at least in part on one or more modifications to map elements and determining if the stress meets or exceeds a threshold. In instances where the stress meets or exceeds a threshold, a modification may be altered, reversed, and/or indicated in a notification transmitted to a user interface.