Systems and methods are disclosed related to generating interactive user interfaces that enable a user to alter 3D point cloud data and/or associated pose graph data generated from LiDAR scans prior to generation of a high definition map. A user may make selections in a 2D map representation with overlaid graph node indicators in order to alter graph connections, remove nodes, view corresponding 3D point clouds, and otherwise edit intermediate results from LiDAR scans in order to improve the quality of a high definition map subsequently generated from the user-manipulated data.