A method for monitoring an environment of a vehicle. The method includes generating, via at least one time-of-flight sensor, at least one point cloud representing the environment of the vehicle, the at least one point cloud including three-dimensional positional information of the environment. The method also includes detecting, via processing circuitry in communication with the at least one time-of-flight sensor, an aerosol in the environment. The method also includes estimating a quality of the aerosol based on at least one feature of the at least one point cloud. The method also includes determining a response condition based on the estimation of the quality. The method also includes communicating an instruction to execute the response condition.