  We introduce a solution for a specific case of Indoor Localization which
involves a directed signal, a reflected signal from the wall and the time
difference between them. This solution includes robust localization with a
given wall, finding the right wall from a group of walls, obtaining the
reflecting wall from measurements, using averaging techniques for improving
measurements with errors and successfully grouping measurements regarding
reflecting walls. It also includes performing self-calibration by computation
of wall distance and direction introducing algorithms such as All pairs,
Disjoint pairs and Overlapping pairs and clustering walls based on Inversion
and Gnomonic Projection. Several of these algorithms are then compared in order
to ameliorate the effects of measurement errors.
