Sure. WiFi is just using radio waves, and if the software is advanced enough, you could potentially use wifi signals as a form of radar to map things. Not sure how great the resolution could potentially be though.
To be clear, this is using the same frequencies WiFi uses, but customized hardware and software to accomplish the task. Those frequency bands can of course penetrate walls. It's why we picked them for network connectivity.
It's a long jump from yet another method to detect things using EM radiation to plugging an AI into your WiFi router to spy on people.