A device configured for performing localization using a set of sensors , including a first sensor and a second sensor, that are transportable with the device , the device comprising: at least one processor operationally connected to the set of sensors ; at least one memory storing program code that configures the at least one processor to: determine a first set of device poses (PA) where the first sensor satisfies a localization performance rule for the first sensor, which is deemed to be satisfied when data from the first sensor processed by a localization operation results in device localization with an accuracy which satisfies a condition for the first sensor; determine a second set of device poses (PB) where the second sensor satisfies a localization performance rule for the second sensor, which is deemed to be satisfied when data from the second sensor processed by the localization operation results in device localization with an accuracy which satisfies a condition for the second sensor; direct movement of the device to transition a pose of the device from not being within to being within the second set of device poses (PB); and 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). at least one processor operationally connected to the set of sensors ; at least one memory storing program code that configures the at least one processor to: determine a first set of device poses (PA) where the first sensor satisfies a localization performance rule for the first sensor, which is deemed to be satisfied when data from the first sensor processed by a localization operation results in device localization with an accuracy which satisfies a condition for the first sensor; determine a second set of device poses (PB) where the second sensor satisfies a localization performance rule for the second sensor, which is deemed to be satisfied when data from the second sensor processed by the localization operation results in device localization with an accuracy which satisfies a condition for the second sensor; direct movement of the device to transition a pose of the device from not being within to being within the second set of device poses (PB); and 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). determine a first set of device poses (PA) where the first sensor satisfies a localization performance rule for the first sensor, which is deemed to be satisfied when data from the first sensor processed by a localization operation results in device localization with an accuracy which satisfies a condition for the first sensor; determine a second set of device poses (PB) where the second sensor satisfies a localization performance rule for the second sensor, which is deemed to be satisfied when data from the second sensor processed by the localization operation results in device localization with an accuracy which satisfies a condition for the second sensor; direct movement of the device to transition a pose of the device from not being within to being within the second set of device poses (PB); and 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). <EOS>