Algorithm 1 Object detection algorithm

Require: d distance between the two sensors, $t_1$ time of flight from sensor S1, $t_2$ time of flight from sensor S2 1: /* Convert time of flight from sensors to distances */ 2: $r_1\leftarrow 0.03438\ast t_1/2$ 3: $r_2\leftarrow 0.03438\ast t_2/2$ 4: /* Combine to calculate object coordinates */ 5: $x\leftarrow (r_2^2-d^2-r_1^2)/\left(2d\right)$ 6: $y\leftarrow \sqrt{r_1^2-x^2}$ 7: return $x,y$