RF in-wall image registration using position indicating markers

A radio frequency (RF) imaging device, comprising:

• an RF sensor assembly configured to emit an RF wave in a direction relative to a wall, sense a reflection of the RF wave from one or more objects in a space behind the wall, and capture reflection data representing the sensed reflection of the RF wave;
• a position sensor configured to receive a plurality of signals respectively emitted by a plurality of position markers removably affixed at known positions in a plane defined by the wall, and capture signal data representing the plurality of signals as received, a position marker of the plurality of position markers being removably affixed by at least one of:
• an adhesive, a thumbtack, or a magnet;
• and
• a processor operatively coupled to the RF sensor assembly and the position sensor and configured to:
• receive the reflection data representing the sensed reflection of the RF wave;
• determine image data representing an RF image of the space behind the wall based on the received reflection data;
• receive the signal data representing the plurality of signals;
• determine a position of the position sensor with respect to the plurality of position markers based on the known positions in the plane defined by the wall of the plurality of position markers and triangulation of the signal data;
• and
• associate the determined position of the position sensor with the image data representing the RF image of the space behind the wall.

A system comprising:

• a plurality of position markers removably affixed at different known locations in a plane defined by a wall configured to transmit a respective plurality of signals, a position marker of the plurality of position markers being removably affixed by at least one of:
• an adhesive, a thumbtack, or a magnet;
• and
• a radio frequency (RF) imaging device comprising:
• a position sensor configured to receive the plurality of signals and capture signal data representing the plurality of signals as received;
• an RF sensor assembly configured to emit an RF wave in a direction relative to the wall, sense a reflection of the RF wave from one or more objects in a space behind the wall, and capture reflection data representing the sensed reflection of the RF wave;
• a processor operatively coupled to the RF sensor assembly and the position sensor and configured to:
• receive the signal data representing the plurality of signals;
• determine a time-of-flight for each of the plurality of signals from the respective position marker that transmitted the respective signal;
• determine a position of the RF imaging device based at least in part on the known locations in the plane defined by the wall of the plurality of position markers and the time-of-flight for each of the plurality of signals;
• receive the reflection data representing the sensed reflection of the RF wave;
• determine an RF image of the space behind the wall based on the reflection data representing the sensed reflection of the RF wave;
• and
• associate the RF image with the determined position of the RF imaging device.