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In urban sensing and through-the-wall (TTW) radar, the existence of targets inside buildings results in multipath returns. These multipath returns are exploited to achieve target localization with a single sensor. A time-of-arrival (TOA) wall association algorithm is derived to relate multipath returns to their respective walls and targets, followed by a nonlinear least squares (NLS) optimization to localize the targets. Simulations and experimental data are used to validate the proposed algorithms.