An apparatus comprising: a plurality of data systems configured to generate a plurality of data streams in which the plurality of data streams includes a first type of data stream and a second type of data stream, wherein each data point in the first type of data stream includes a measurement of uncertainty, and wherein each data point in the second type of data stream does not include a measurement of uncertainty; a modifier configured to apply a probability distribution to the second type of data stream to form a modified data stream; and a pose estimator located onboard a mobile platform and configured to receive and fuse the first type of data stream and the modified data stream to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform; wherein the apparatus is configured to: observe a current landmark in the environment a selected number of times using an onboard data system, while the mobile platform is at a current location; identify an initial relative distance between the current location of the mobile platform and the current landmark; and move the mobile platform from the current location to a new location as far as possible towards a desired location without losing the current landmark within a field of view of a sensor system of the onboard data system. a plurality of data systems configured to generate a plurality of data streams in which the plurality of data streams includes a first type of data stream and a second type of data stream, wherein each data point in the first type of data stream includes a measurement of uncertainty, and wherein each data point in the second type of data stream does not include a measurement of uncertainty; a modifier configured to apply a probability distribution to the second type of data stream to form a modified data stream; and a pose estimator located onboard a mobile platform and configured to receive and fuse the first type of data stream and the modified data stream to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform; wherein the apparatus is configured to: observe a current landmark in the environment a selected number of times using an onboard data system, while the mobile platform is at a current location; identify an initial relative distance between the current location of the mobile platform and the current landmark; and move the mobile platform from the current location to a new location as far as possible towards a desired location without losing the current landmark within a field of view of a sensor system of the onboard data system. observe a current landmark in the environment a selected number of times using an onboard data system, while the mobile platform is at a current location; identify an initial relative distance between the current location of the mobile platform and the current landmark; and move the mobile platform from the current location to a new location as far as possible towards a desired location without losing the current landmark within a field of view of a sensor system of the onboard data system.