Aspects presented herein may improve/enhance camera-aided/assisted positioning by utilizing light and shadow created by an artificial light. In one aspect, a UE captures a set of images of an object using at least one camera. The UE estimates a direction of at least one light source based on a shadow of the object in the set of images, wherein the shadow of the object is created by the at least one light source. The UE calculates at least one of (1) a distance (d) between the at least one camera and a set of first features associated with the object based on the estimated direction of the at least one light source or (2) directional information of a set of second features associated with a surrounding environment that is within a threshold distance of the object.