A system comprising: a personal protective equipment, PPE, configured to be worn by an agent, wherein the PPE includes a sensor assembly comprising one or more sensors configured to generate sensor data that includes an indication of a fiducial marker in a visually obscured environment and configured for collecting fiducial information from fiducial markers, whereby fiducial data is associated with a location or feature within the environment; and at least one computing device comprising a memory and one or more processors coupled to the memory, wherein the at least one computing device is configured to: process the sensor data from the sensor assembly to extract the fiducial data from the indication of the fiducial marker; generate pose data of the agent based on a relative weighting between the fiducial data and other sensor data including at least one of radar data, inertial data, and thermal image data, wherein the pose data includes a location and an orientation of the agent as a function of time, and wherein the pose data further includes pose metadata indicative of a confidence level for the sensor data used to generate the pose data; change the relative weighting based on at least one of a distance or a time of movement of the agent from the fiducial marker; and track the pose data of the agent as the agent moves through the visually obscured environment. a personal protective equipment, PPE, configured to be worn by an agent, wherein the PPE includes a sensor assembly comprising one or more sensors configured to generate sensor data that includes an indication of a fiducial marker in a visually obscured environment and configured for collecting fiducial information from fiducial markers, whereby fiducial data is associated with a location or feature within the environment; and at least one computing device comprising a memory and one or more processors coupled to the memory, wherein the at least one computing device is configured to: process the sensor data from the sensor assembly to extract the fiducial data from the indication of the fiducial marker; generate pose data of the agent based on a relative weighting between the fiducial data and other sensor data including at least one of radar data, inertial data, and thermal image data, wherein the pose data includes a location and an orientation of the agent as a function of time, and wherein the pose data further includes pose metadata indicative of a confidence level for the sensor data used to generate the pose data; change the relative weighting based on at least one of a distance or a time of movement of the agent from the fiducial marker; and track the pose data of the agent as the agent moves through the visually obscured environment. process the sensor data from the sensor assembly to extract the fiducial data from the indication of the fiducial marker; generate pose data of the agent based on a relative weighting between the fiducial data and other sensor data including at least one of radar data, inertial data, and thermal image data, wherein the pose data includes a location and an orientation of the agent as a function of time, and wherein the pose data further includes pose metadata indicative of a confidence level for the sensor data used to generate the pose data; change the relative weighting based on at least one of a distance or a time of movement of the agent from the fiducial marker; and track the pose data of the agent as the agent moves through the visually obscured environment. <EOS>