Simple enough scanning laser rangefinder. Based on triangulation method.
Used STM32F303 + ELIS-1024 sensor.
Article in Russian about it: https://geektimes.ru/post/275442/
Read wiki for more information.
Video - lidar installed at Roomba: https://www.youtube.com/watch?v=4vZgepiK1K4
Если вы хотите увидеть описание на русском - напишите мне.