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

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