Computer Vision/Robotics - What's a pose-graph?

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A pose graph is defined as a graph data structure where each node represents a frame with a specific origin, and each directed edge signifies the transformation, including translation and rotation, from one node to another. Additionally, the edges incorporate covariance information. The discussion seeks to confirm this definition and invites further clarification or additional details to enhance the understanding of pose graphs.
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I've been looking for a definition for a while now. A google search turns up plenty of research papers using them but I haven't found a definition yet. Can anyone explain it to me? Thanks for your time!
 
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Nevermind. I think I found it. A pose graph is a graph data structure where each node is a frame with a specific origin and each directed edge is the transformation (translation and rotation) from one node (frame) to another. Is this right? Or wrong? Or is there something anyone thinks should be added to this description? Thanks.
 
Also, the edge contains the covariance. Anything else? Again, thanks.
 

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