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We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with no capacity for directional hearing or vocalizing. In this paper we generalize our previous work in 2D, and show that the 3D case is not just a simple extension, but rather a fundamentally different inverse problem. While generically the 2D problem has adoi:10.1109/icassp.2017.7952759 dblp:conf/icassp/KrekovicDV17 fatcat:rg7zzzeff5hdnir5ddchgvu6sy