Not using Wifi, but radar (so it needs at least a little movement) :
Pixel 4 have SOLI 60Ghz radar chips that allows various object categorization (eventually through walls applications).
Unfortunately the radar API was never released. It's unfortunate because a smartphone already has various sensors that ideally you'd like to use to do some sensor fusion using the camera and accelerometers to determine the position of the sensor and fuse the radar information in the map, like in those 3D photogrammetry room scanning applications.
Reverse-engineered attempt have been successful (but are locked behind paywalls (since it's a 2021 paper and sci-hub doesn't download recent (>=2021) articles during its trial in india) :
"Reverse Engineering the Soli Radar API for Military Applications" : https://ieeexplore.ieee.org/document/9455321/
Pixel 4 have SOLI 60Ghz radar chips that allows various object categorization (eventually through walls applications).
Unfortunately the radar API was never released. It's unfortunate because a smartphone already has various sensors that ideally you'd like to use to do some sensor fusion using the camera and accelerometers to determine the position of the sensor and fuse the radar information in the map, like in those 3D photogrammetry room scanning applications.
Various object categorization :
https://www.youtube.com/watch?v=B6sn2vRJXJ4
https://www.theverge.com/2019/1/4/18168083/google-project-so...
Reverse-engineered attempt have been successful (but are locked behind paywalls (since it's a 2021 paper and sci-hub doesn't download recent (>=2021) articles during its trial in india) : "Reverse Engineering the Soli Radar API for Military Applications" : https://ieeexplore.ieee.org/document/9455321/
SOLI chips are based on infineon chips https://www.infineon.com/cms/en/product/promopages/60GHz/
You can find some demo board using the chip :
https://www.digikey.fr/fr/videos/i/infineon-technologies/get...
The walabot referenced in other comments is an example. Based on a different chip from https://vayyar.com/technology/ https://cdn.sparkfun.com/assets/learn_tutorials/7/2/4/walabo...