LOCALIZATION USING SENSORS THAT ARE TRANPORTABLE WITH A DEVICE

A device is configured for performing localization using a set of sensors that are transportable with the device. The device includes at least one processor operationally connected to the set of sensors, and at least one memory that stores program code. The program code configures the at least one processor to determine a first set of device poses (PA) where a first sensor satisfies a localization performance rule, and to determine a second set of device poses (PB) where a second sensor satisfies the localization performance rule. The at least one processor is further configured to activate the second sensor while the first sensor is active based on a pose of the device transitioning from not being within to being within the second set of device poses (PB). The at least one processor is further configured to determine the first set of device poses (PA) where the first sensor satisfies a localization performance rule and to determine the second set of device poses (PB) where the second sensor satisfies the localization performance rule based on obtaining a listing of sensors that are presently active for use by a proximately located other device.