1. A method comprising: collecting, at a receiver of a first communication device, a plurality of frames, each frame being an image of a location and having a resolution including a plurality of pixels, each pixel having a pixel value corresponding to a color; determining, by one or more processors of the first communication device, a static background of the location by averaging the pixel values of the plurality of frames collected at the receiver; determining, by the one or more processors, pixel difference values for each frame by subtracting the determined static background from the pixel values of each frame; identifying, by the one or more processors, a first subset of frames and a second subset of frames using the pixel difference values for each frame in the plurality of frames; determining, by the one or more processors, an average pixel difference by averaging the pixel difference values of the first subset of frames and an inverse of the pixel difference values of the second subset of frames; and determining, by the one or more processors, a position of a beacon of a second communication device at the location using the average pixel difference in order to align the first communication device and the second communication device for a communication link.