I could see you are mentioning that there could be some challenges in detecting size and distance with TOF.Will objects bigger than 2ft x 2ft (like 5ft x 5ft ) are possible to be detected with this TOF ?Instead of 10 meters range, can it detect till ...

Basically trying to avoid use of camera in this prototype and want to achieve some decent accuracy with good TOF sensors. It may introduce some compromise on size of shape/ distance but want to explore on that route using TOF sensor based solution !