I once used this technique to make a 2D pseudo-lidar sensor from a camera mounted on a indoor vehicle, it worked fairly well when used on uniformly textured flo

I once used this technique to make a 2D pseudo-lidar sensor from a camera mounted on a indoor vehicle, it worked fairly well when used on uniformly textured flooring. After transforming the camera input image using an IPT, you could do some basic trig to figure out the distances away from the camera to non-floor objects.