ST’s VL53L5CX is a very small 8×8 grid ranging sensor that can perform distance measurements at a distance of up to 4 meters.  [Henrique Ferrolho] demonstrated that this little sensor can also be used to perform a 3D scan of a room. The sensor data can be combined with an IMU to add orientation information to the scan data. These data streams are then combined by an ESP32 MCU that streams the data as JSON to a connected computer.