1. A method of assessing a pose of a device, the method comprising: receiving, from one or more sensors of the device, sensor information including a change in location of the device along three orthogonal axes and a change in orientation of the device along the three orthogonal axes; using a pre-configured motion behavior classifier to determine a physical state of a user of the device based on the change in location of the device and the change in orientation of the device; selecting a motion-family model from a plurality of different pre-configured motion-family models based on the physical state of the user; providing the sensor information to the selected motion-family model; receiving an estimated pose of the device from the selected motion-family model, wherein the selected motion-family model interprets the sensor information in accordance with a family of motion associated with the device for the selected motion-family model, the family of motion including an acceleration profile for the device, and the selected motion-family model matching one or more measurements of the device to a selected trajectory of the device; and displaying content on the device based on the estimated pose of the device.