A computer system for detecting and mitigating magnetic interference of one or more foreign objects detected by the system, the system comprising: a magnetic transmission device; a magnetic-field sensing device; one or more input sensors; one or more processors; and one or more computer-readable media having stored thereon executable instructions that when executed by the one or more processors configure the computer system to perform at least the following: cause the one or more input sensors to scan an environment in which the system is located and to identify the one or more foreign objects that are separate from the system within the environment and that are magnetically-interfering objects; cause the magnetic transmission device to transmit a magnetic field signal ; cause the magnetic-field sensing device to determine a measurement of the magnetic field signal ; determine one or more characteristics of magnetic field interference that the one or more foreign objects are imparting on the magnetic transmission device or the magnetic-field sensing device ; and compute an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference, wherein the pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device or the magnetic-field sensing device to mitigate the magnetic field interference. a magnetic transmission device; a magnetic-field sensing device; one or more input sensors; one or more processors; and one or more computer-readable media having stored thereon executable instructions that when executed by the one or more processors configure the computer system to perform at least the following: cause the one or more input sensors to scan an environment in which the system is located and to identify the one or more foreign objects that are separate from the system within the environment and that are magnetically-interfering objects; cause the magnetic transmission device to transmit a magnetic field signal ; cause the magnetic-field sensing device to determine a measurement of the magnetic field signal ; determine one or more characteristics of magnetic field interference that the one or more foreign objects are imparting on the magnetic transmission device or the magnetic-field sensing device ; and compute an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference, wherein the pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device or the magnetic-field sensing device to mitigate the magnetic field interference. cause the one or more input sensors to scan an environment in which the system is located and to identify the one or more foreign objects that are separate from the system within the environment and that are magnetically-interfering objects; cause the magnetic transmission device to transmit a magnetic field signal ; cause the magnetic-field sensing device to determine a measurement of the magnetic field signal ; determine one or more characteristics of magnetic field interference that the one or more foreign objects are imparting on the magnetic transmission device or the magnetic-field sensing device ; and compute an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference, wherein the pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device or the magnetic-field sensing device to mitigate the magnetic field interference. <EOS>