A portable environment sensing device (10) is described which comprises at least one time-of-flight sensor (11) capable of detecting the distances from the time-of-flight sensor (11) to at least two features within the field of view (21) of the time-of-flight sensor (11) simultaneously. The portable environment sensing device further comprises a processing unit (12) capable of converting the at least two measured distances into at least two different distance signals (16), where each distance signal (16) is correlated with the corresponding measured distance, and an output interface (13) providing the at least two distance signals (16) to a user (20) simultaneously.
