Systems and methods are disclosed for estimating speed and/or velocity for a portable device using an optical sensor. The optical sensor may capture a plurality of samples to be processed to estimate speed. The speed or velocity may be estimated based on a determined context and/or usage of the portable device. The estimated speed or velocity may be used to supplement other navigational solutions or may be used independently.

A first device can determine a map of an environment that includes a plurality of elements. The first device can further determine a localization uncertainty level (LUL) within the map. The first device can further determine a dynamicity level (D_map) for a portion of the plurality of elements in the map. The first device can further determine a new LUL (LUL_new) based on the LUL and the D_map. The first device can further provide the LUL_new to a second device in the environment.