  Vehicle-to-everything (V2X) perception describes a suite of technologies used
to enable vehicles to perceive their surroundings and communicate with various
entities, such as other road users, infrastructure, or the network/cloud. With
the development of autonomous driving, V2X perception is becoming increasingly
relevant, as can be seen by the tremendous attention recently given to
integrated sensing and communication (ISAC) technologies. In this context,
rigid body localization (RBL) also emerges as one important technology which
enables the estimation of not only target's positions, but also their shape and
orientation. This article discusses the need for RBL, its benefits and
opportunities, challenges and research directions, as well as its role in the
standardization of the sixth-generation (6G) and beyond fifth generation (B5G)
applications.
