This disclosure provides systems, methods, and devices for wireless communication that support visual sensing for positioning. In a first aspect, a method of wireless communication includes receiving a first image of an object from an image capture device. The method also includes receiving location information that includes a coordinate point, a position of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on a relative orientation between the UE and a network entity, and a matched pair of points including a first point of the first image and a second point of a second image of the object captured by the network entity. Other aspects and features are also claimed and described.