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The commercial availability of low-cost millimeter wave (mmWave)communication and radar devices is starting to improve the penetration of suchtechnologies in consumer markets, paving the way for large-scale and densedeployments in fifth-generation (5G)-and-beyond as well as 6G networks. At thesame time, pervasive mmWave access will enable device localization anddevice-free sensing with unprecedented accuracy, especially with respect tosub-6 GHz commercial-grade devices. This paper surveys the state of the art indevice-based localization and device-free sensing using mmWave communicationand radar devices, with a focus on indoor deployments. We first overview keyconcepts about mmWave signal propagation and system design. Then, we provide adetailed account of approaches and algorithms for localization and sensingenabled by mmWaves. We consider several dimensions in our analysis, includingthe main objectives, techniques, and performance of each work, whether eachresearch reached some degree of implementation, and which hardware platformswere used for this purpose. We conclude by discussing that better algorithmsfor consumer-grade devices, data fusion methods for dense deployments, as wellas an educated application of machine learning methods are promising, relevantand timely research directions.

A Review of Indoor Millimeter Wave Device-based Localization and Device-free Sensing Technologies and Applications