A new methodology for detecting, localizing, tracking, and counting objects. The method for state/space estimation includes arranging in a space a first pair of radio frequency sensors in a network of nodes. The first pair of radio frequency sensors is calibrated to determine a first fading condition associated with the first pair of radio frequency sensors. A signal strength of at least one signal sent between the first pair of nodes is measured. A first likelihood model is determined based on the first fading condition. A first posterior distribution is estimated based on the signal strength of the at least one signal using the first likelihood model for purposes of determining object information within the space.