It is possible to recognize 3d-environments using a simple camera or even simpler sensors. Here are some links:

• https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
• http://ccwu.me/vsfm/
• https://en.wikipedia.org/wiki/Bundle_adjustment
• http://docs.opencv.org/2.4/modules/stitching/doc/motion_estimation.html#detail-bundleadjusterbase
• https://www.google.com/atap/project-tango/
• http://www.pirobot.org/blog/0015/

This should allow to recognize walls, floors, obstacles and such.

I also develop robots and would like to get in touch with you, if you want to talk about the projects, see if we may be able to merge efforts.