I'd say that's more of a Dungeon Master/Ultima style system, not 2.5D raycasting [0].

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