An apparatus includes a light source configured to emit light, a beam shaper configured to project the light to substantially surround the apparatus in a plane and onto an object in the plane, and a receiver configured to project the light reflected from the object in the plane to an image sensor. A distortion parameter of the receiver in conjunction with a difference between the emitted light and the reflected light detected at the image sensor is indicative of at least one of a direction or a distance of the apparatus relative to the object.