Pose estimation in AR applications for CH can be broadly categorized as either being dependent or independent of its surrounding environment. In the former case, the pose of the agent is calculated according to an interaction between sensors (e.g., cameras) and artificial beacons (e.g., markers), each placed either in the environment or on the user. In the latter case, the agent is equipped with sensors that are used for positioning, without any required infrastructure to support the localization process.