I have also considered building OpenSimpleLidar [0] and putting that on top of my head (I also use snips.ai on my ar build to control things by voice, so i have [1] this headset, which allows me to attach things to the top of it) so that I can generate real time images of my environment, and have it display a map, like in a video game, with my location. I haven't got to that part yet - too many other projects :(

[0] https://github.com/iliasam/OpenSimpleLidar/ [1] https://www.amazon.com/gp/product/B01CQ8CB8W/ref=oh_aui_sear...