Abstract: A navigation device, adapter or system for real time three-dimensional (3D) depth sensing through endoscope, a laparoscope, an arthroscope, a cystoscope, a ureteroscope, a bronchoscope, a sinuscope, and a borescope devices. The navigation devices or systems can include a modular, releasable adapter that enables LiDAR or other optical time-of-flight sensor with the devices. The devices, adapters or systems are operable to generate sub-millimeter precision reconstructions of the viewed surfaces and can register the surfaces to scans, such as preoperative scans, to facilitate accurate, image-guided procedures, particularly those procedures involving precise actions, such as surgical procedures performed on rigid anatomy. Applications include surgical guidance, augmented reality visualization, distance-based signal normalization, 3D measurement, luminal traversal tracking, and robotic control, all using off-the shelf endoscopes and surgical cameras as well as borescopes.