1. A range map generation system comprising: a range detection unit; a camera; and a controller configured to execute instructions to perform operations including: receiving an image from the camera; receiving a 3D point cloud from the range detection unit; transforming the 3D point cloud from range detection unit coordinates to camera coordinates; projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points; filtering the projected 2D points based on a range threshold; and generating a range map based on the filtered 2D points and the image.