Method, which comprises: - receiving raw absolute position data as output of at least one absolute positioning system of a machine, - interpolating the raw absolute position data on the basis of a specified clock rate for determining interpolated absolute position data for each of a plurality of times determined according to the clock rate, wherein an interpolated absolute position datum is determined for each of the times, - receiving raw odometry position data as output of at least one odometry positioning system of the machine, - interpolating the raw odometry position data on the specified clock rate for determining interpolated odometry position data of the machine, - generating a pose graph having a chain geometry, in which optimization nodes are arranged in series and no optimization node has more than two directly adjacent optimization nodes , and the optimization nodes are inserted in temporally fixed intervals determined according to the clock rate, wherein fixed nodes of the pose graph correspond to the interpolated absolute position data and are associated with the optimization nodes via boundary conditions, and wherein edges between optimization nodes are formed from the interpolated odometry position data and each connect two directly adjacent optimization nodes , and - optimizing the pose graph by shifting optimization nodes to obtain an estimated position of the machine from the shifted optimization nodes . - receiving raw absolute position data as output of at least one absolute positioning system of a machine, - interpolating the raw absolute position data on the basis of a specified clock rate for determining interpolated absolute position data for each of a plurality of times determined according to the clock rate, wherein an interpolated absolute position datum is determined for each of the times, - receiving raw odometry position data as output of at least one odometry positioning system of the machine, - interpolating the raw odometry position data on the specified clock rate for determining interpolated odometry position data of the machine, - generating a pose graph having a chain geometry, in which optimization nodes are arranged in series and no optimization node has more than two directly adjacent optimization nodes , and the optimization nodes are inserted in temporally fixed intervals determined according to the clock rate, wherein fixed nodes of the pose graph correspond to the interpolated absolute position data and are associated with the optimization nodes via boundary conditions, and wherein edges between optimization nodes are formed from the interpolated odometry position data and each connect two directly adjacent optimization nodes , and wherein fixed nodes of the pose graph correspond to the interpolated absolute position data and are associated with the optimization nodes via boundary conditions, and wherein edges between optimization nodes are formed from the interpolated odometry position data and each connect two directly adjacent optimization nodes , and - optimizing the pose graph by shifting optimization nodes to obtain an estimated position of the machine from the shifted optimization nodes . <EOS>