A system for estimating a plurality of device poses in a space, comprising: at least one device, comprising at least one hardware processor connected to at least one sensor and adapted to: in at least one of a plurality of iterations: using at least one model to compute a first estimated device pose in a first identified region of the space in response to at least one input signal captured by the at least one sensor, where the at least one model is one of a plurality of region specific models, each trained to compute an estimated device pose in one of a plurality of regions of the space; providing the first estimated device pose to at least one software object executed by the at least one hardware processor to perform a pose-oriented task; receiving at least one other model trained to compute another estimated device pose in a second.