a) NLOS measurement process with two Lambertian scatterings indicated with red arrows. Dashed arrows indicate pulse propagation. b) Resulting ellipses of possible target reflections that could have produced the measured data of detection positions 4 and N (blue circles) from illumination position 1 (red circle). The intersection indicates the actual target position. c) Overlapping ellipses for finite pulse width of a centrally positioned target. Ellipses I and II originate from laser position 1 (red circle) and detection position 1 and N respectively. Ellipse III originates from laser position 2 and detection position N, confining the light grey area to the dark grey area.