See and Beam: Leveraging LiDAR Sensing and Specular Surfaces for Indoor mmWave Connectivity

Millimeter-wave (mmWave) communication enables multi-gigabit-per-second data rates but is highly susceptible to path loss and blockage, especially indoors. Many indoor settings, however, include naturally occurring specular surfaces such as glass, glossy metal panels, and signage, that reflect both light and mmWave signals. Exploiting this dual reflectivity, we propose See and Beam, a low-cost framework that combines LiDAR sensing with passive specular reflectors to enhance mmWave connectivity under non-line-of-sight (NLoS) conditions. In this paper, as a proof of concept, we deploy three types of reflectors, glossy, smooth, and matte (non-specular), to evaluate joint LiDAR/mmWave reflection in an indoor scenario. We demonstrate that using LiDAR-mmWave co-reflective surfaces enables a co-located LiDAR sensor to map the NLoS environment, localize NLoS users, and identify viable communication reflection points. Experimental results at 60 GHz show that LiDAR-guided beam steering with co-reflective surfaces improves the minimum received signal strength by over 20 dB in deep NLoS regions. Moreover, LiDAR-derived angle-of-departure steering achieves performance comparable to exhaustive NLoS beam search. This low cost, and scalable framework serves as an effective alternative to configurable reflecting surfaces and enables robust mmWave connectivity in future 6G and beyond networks.