Turn a Time-of-Flight Sensor into a 3D Scanner

A demonstration of building a 3D mapping device using a multi-zone time-of-flight sensor (8x8 grid, 64 rays), an IMU, and an ESP32 for approximately $30. The setup measures distances from 2cm to 4m at 15Hz and uses the IMU to track orientation, allowing accumulated point clouds to create room maps when rotating the sensor. The visualization includes filtering options (exponential moving average) and plane fitting algorithms (least squares vs RANSAC). The main limitation is that the IMU cannot accurately track translational movement, only rotation, so the sensor must be rotated in place for best results.