Using light and shadow in vision-aided precise positioning

A method of wireless communication at a user equipment (UE), comprising:

• capturing a set of images of an object using at least one camera;
• estimating a direction of at least one light source based on a shadow of the object in the set of images, wherein the shadow of the object is created by the at least one light source;
• and
• calculating at least one of (1) a distance (d) between the at least one camera and a set of first features associated with the object based on the estimated direction of the at least one light source or (2) directional information of a set of second features associated with a surrounding environment that is within a threshold distance of the object.

An apparatus for wireless communication at a user equipment (UE), comprising:

• means for capturing a set of images of an object using at least one camera;
• means for estimating a direction of at least one light source based on a shadow of the object in the set of images, wherein the shadow of the object is created by the at least one light source;
• and
• means for calculating at least one of (1) a distance (d) between the at least one camera and a set of first features associated with the object based on the estimated direction of the at least one light source or (2) directional information of a set of second features associated with a surrounding environment that is within a threshold distance of the object.

A computer-readable medium storing computer executable code at a user equipment (UE), the code when executed by at least one processor causes the at least one processor to:

• capture a set of images of an object using at least one camera;
• estimate a direction of at least one light source based on a shadow of the object in the set of images, wherein the shadow of the object is created by the at least one light source;
• and
• calculate at least one of (1) a distance (d) between the at least one camera and a set of first features associated with the object based on the estimated direction of the at least one light source or (2) directional information of a set of second features associated with a surrounding environment that is within a threshold distance of the object.