What type of equipment can I use to detect object 3d distance?
What you ask for is a bit unrealistic (tricorder comes to mind). There are 3D room laser scanners but you can't walk around with them (while they work) because the data they'd record would be crap. Here's a video of how one works; the automated scanning is in the 2nd half. Also you need the room to be mostly empty so the laser can see all points of interest. The more expensive ones come with positioning sensors (GPS I presume) and software that merges/stitches together the scans done from multiple vantage points into a single model (advert example); the latter problem is basically a computer vision problem.

There are some arduino-based protects for making 3D laser scanners, although the ones I found, e.g. this are for scanners spinning around an object. I also found a hacked Kinect doing the same So it's basically possible, but you may need to adapt that for room scanning. Don't expect accuracy on the level of the commercial scanners, but I suspect they'd work reasonably well in a room.