SLTR: Simultaneous Localization of Target and Reflector in NLOS Condition Using Beacons

TL;DR

This paper presents a method to simultaneously localize a target and a reflector in NLOS conditions using beacons and a camera, addressing a key challenge in indirect target localization.

Contribution

It introduces a novel approach for localizing both reflector and target in NLOS scenarios with unknown map and beacon placement, validated through simulations.

Findings

Simulation results match theoretical predictions

Effective localization of target and reflector in NLOS conditions

Distance estimation using size constancy

Abstract

When the direct view between the target and the observer is not available, due to obstacles with non-zero sizes, the observation is received after reflection from a reflector, this is the indirect view or Non-Line-Of Sight condition. Localization of a target in NLOS condition still one of the open problems yet. In this paper, we address this problem by localizing the reflector and the target simultaneously using a single stationary receiver, and a determined number of beacons, in which their placements are also analyzed in an unknown map. The work is done in mirror space, when the receiver is a camera, and the reflector is a planar mirror. Furthermore, the distance from the observer to the target is estimated by size constancy concept, and the angle of coming signal is the same as the orientation of the camera, with respect to a global frame. The results show the validation of the proposed work and the simulation results are matched with the theoretical results.