Proximity sensors or multi cameras for 4 dimensional "view"?


Has anyone implemented successfully at any sensor/optical technology to “see” and report the clearance around the ROV? It can in some environments be desirable to know in 10’s of cm how what kind of clearance you have around you (4 dimensions) and display it on the heads up.
Some thought off the top of my head:
“Wisker” sensors (optic fiber loops) like a cat fish.
Laser, sonar need too many holes for sensors, sonar is bulky
Electrostatic sensors, like the lateral sensors on fish is interesting.
Multiple small fixed cameras. I did not see anything around on this which might, be another option…