A system for pose generation consisting of a trajectory system, a pose generation system, an intersection extractor, an object identifier, a constraint generator, and a posegraph solver. The trajectory system identifies a number of trajectories based on input positional data of a bounded area. The pose generation system generates one or more poses based on the trajectories. The intersection extractor identifies one or more possible intersections in the one or more poses. The object identifier identifies an object pair for each possible intersection that represents two positional points at each possible intersection. The constraint generator computes and applies one or more intersection constraints to generate an energy value for each object pair based on their geometric relationship. The posegraph solver then minimizes a total energy value by modifying one or more poses and then generates an improved set of pose trajectories based on the modified one or more poses.