I have a set of N robot poses between point A and B. I use a global localization technique to estimate poses at point A and B. As a result, I have a new corrected pose B'. Please see the figure below.
Considering the poses A and B' are now fixed, how do I smooth out the in-between poses such that there is a smooth transition between A and B'? I know the relative poses between each node in the white trajectory. Please help me formulate this problem. Is this a graph optimization problem? or is there any other simple approach for smoothing out the jump?