I. Introduction
Reconfigurable intelligent surfaces (RISs) are envisaged as a key enabling technology towards 6G to reduce the vulnerability of mmWave and sub-THz systems to signal blockages, providing improved communication rate and coverage [1], [2], [3]. Through their dynamic ability to engineer the propagation environment, reconfigurable intelligent surfaces (RISs) can be optimized in terms of various performance metrics, such as energy efficiency [4], [5] and sum-rate [6], [7]. While a great deal of papers has been devoted to RIS for communication, especially for overcoming line-of-sight (LoS) blockages [1], [8], RISs enjoy several properties that make them attractive for localization as well [9], [10]. The large aperture of RISs enables high resolution in angle-of-arrival (AoA) and angle-of-departure (AoD) estimation, while their functioning over large bandwidths supports high delay resolution (in addition to high data rates) [11]. When user equipments (UEs) are close to the RIS, wavefront curvature (also known as near-field (NF)) allows direct relative localization, even when the LoS between the UE and base station (BS) is blocked [12], [13], [14]. When the RIS has a known location and orientation, this relative location can be transformed into global coordinates, effectively rendering the RIS into an additional analog BS [11].