Systems and methods for inward-looking depth scanning of a scan zone

An exemplary depth scanning system includes first and second depth scanning devices disposed, respectively, at first and second locations on a boundary of a scan zone where segments of the boundary meet to form respective first and second angles that include the scan zone. The first device performs a first sequence of depth scanning operations where the first device detects depth data for surfaces included in the scan zone by sweeping a scan field across the first angle and in which the first device abstains from detecting depth data for surfaces outside the first angle. Concurrently, the second device performs a second sequence of depth scanning operations where the second device detects depth data for the surfaces in the scan zone by sweeping a scan field across the second angle and in which the second device abstains from detecting depth data for surfaces outside the second angle.