"Pioneered" is relative. I was playing 3D Monster Maze [0] in the early 80s, on a ZX81, which had a lightning-fast 3MHz Z80 processor and a whole 1 KB of RAM [1].
[0] https://www.youtube.com/watch?v=nKvd0zPfBE4 [1] https://en.wikipedia.org/wiki/ZX81
[0] https://www.youtube.com/watch?v=nKvd0zPfBE4 [1] https://en.wikipedia.org/wiki/ZX81
I would argue that Midi Maze for Atari ST was more of a pioneer in 1987 [1]. :)
[0] https://en.wikipedia.org/wiki/Ray_casting#Ray_casting_in_ear... [1] https://www.youtube.com/watch?v=8hSoy1S43dw