Vehicular apparatus and method for determining a characteristic of an object that may be located on a seat of the vehicle includes emitters, each emitting a beam along a path on which the object may be located, each path being in a different direction, receivers, each receiving beams emitted from the array of emitters that are reflected from the object when present in the seat, and a processor coupled to the emitters and the receivers for determining time-of-flight of each reflected and received beam between emission of the beam from the emitters and reception of the beam at the receivers. The processor determines one or more characteristics of the object based on the determined time-of-flight of each reflected and received beam, taken either individually or in combination.