Internet of Things (“IoT”) appliances are gaining consumer traction, from smart thermostats to smart speakers. These devices generally have limited user interfaces, most often small buttons and touchscreens, or rely on voice control. Further, these devices know little about their surroundings—unaware of objects, people and activities around them. Consequently, interactions with these “smart” devices can be cumbersome and limited. The present invention presents an approach that enriches IoT experiences with rich touch and object sensing, offering a complementary input channel and increased contextual awareness. The present invention incorporates a range sensing technology into the computing devices, providing an expansive ad hoc plane of sensing just above the surface with which a device is associated. Additionally, the present invention can recognize and track a wide array of objects, including finger touches and hand gestures. The present invention can also track people and estimate which way they are facing.