A device that is capable of determining its relative position with regard to another device. The device accomplishes this by receiving and analyzing two sets of information emitted by the device whose unique identifier and relative position is to be determined. The first set of information received by the device includes a structured light pattern with a known geometric configuration reflected off a surface in view of both devices. The second set of information received by the device includes a digital communication signal that encodes the unique identifier of the emitting device. Both sets of information may be transmitted on a free space optical communication channel that can be non-directed and non-line of sight.