Localization using sensors that are transportable with a device

A method by a device performing localization using a set of sensors that are transported with the device, the method comprising:

• determining a first set of device poses where a first sensor satisfies a localization performance rule, the first sensor satisfying the localization performance rule when at least one of:
• first data obtained from the first sensor and processed by a localization operation results in device localization with an accuracy that satisfies the localization performance rule;
• and
• an estimate of an accuracy of device localization that would be achieved using the first data would satisfy the localization performance rule;
• determining a second set of device poses where a second sensor satisfies the localization performance rule, the second sensor being separate from the first sensor, the second sensor satisfying the localization performance rule when at least one of:
• second data obtained from the second sensor and processed by the localization operation results in device localization with an accuracy that satisfies the localization performance rule;
• and
• an estimate of an accuracy of device localization that would be achieved using the second data would satisfy the localization performance rule;
• and
• activating the second sensor while the first sensor is active based on a pose of the device transitioning from not being within the second set of device poses to being within the second set of device poses,
• wherein determining the first set of device poses comprises determining the first set of device poses based on obtaining a listing of sensors that are presently active for use by a proximately located other device, and
• wherein determining the second set of device poses comprises determining the second set of device poses based on obtaining the listing of sensors that are presently active for use by the proximately located other device.

A non-transitory computer readable medium storing instructions that are executable by at least one processor of a device using a set of sensors that are transported with the device to cause the at least one processor to perform operations comprising:

• determining a first set of device poses where a first sensor satisfies a localization performance rule, the first sensor satisfying the localization performance rule when at least one of:
• first data obtained from the first sensor and processed by a localization operation results in device localization with an accuracy that satisfies the localization performance rule;
• and
• an estimate of an accuracy of device localization that would be achieved using the first data would satisfy the localization performance rule;
• determining a second set of device poses where a second sensor satisfies the localization performance rule, the second sensor being separate from the first sensor, the second sensor satisfying the localization performance rule when at least one of:
• second data obtained from the second sensor and processed by the localization operation results in device localization with an accuracy that satisfies the localization performance rule;
• and
• an estimate of an accuracy of device localization that would be achieved using the second data would satisfy the localization performance rule;
• directing movement of the device to transition a pose of the device from not being within the second set of device poses to being within the second set of device poses;
• and
• activating the second sensor while the first sensor is active based on the pose of the device transitioning from not being within the second set of device poses to being within the second set of device poses.