Disclosed herein are systems, methods and/or computer programs for backscatter localization of a tag using access point (AP) mode switching. The apparatus, may comprise means for: receiving distance information associated with at least two APs from a set of at least three APs. The distance information associated with each AP of the at least two APs may be determined based on: dynamically switching the role of said each AP in a different time interval to a transmission mode for transmitting a localization signal to a tag, with the other APs in the set of APs switched to a receiving mode for receiving a backscatter signal from the tag in response to the transmitted localization signal from said each AP. Distance information determined, by the other APs, may be associated with said each AP based on the received backscatter signals corresponding to the transmitted localization signal from said each AP. There may also be provided means for determining a location estimate of the tag based on the received distance information.