Robot Mowers
There are quite a few mower projects to learn from, but based on the way you describe the project, it’s a lot less about mowing and a lot about 3D mapping and computer vision. If you have the skills / expertise to do this, that really sounds like an amazing project, and creating it as a lawn mower almost seems secondary. The sweep can create a 2D map, but you’d need to upgrade it to the optional 3D printed variation. If you create it as a “module” which can be added to other robots, you have something with commercial potential.