Robot vacuums typically don't use Lidar. They user a laser pointer and an offset camera. Distance is estimated by the pixel offset between the laser dot, and th

Robot vacuums typically don't use Lidar. They user a laser pointer and an offset camera. Distance is estimated by the pixel offset between the laser dot, and the center of the image. Object very far away: Laser dot in center of image. Object very close: Laser dot at maximal offset from center of image.