Page 16, under Sensors (new):
The only active external sensor allowed is sound ("human-like" with respect to volume and frequency) with one loudspeaker on the robot. The loudspeaker may be placed in the head, neck or trunk of the robot. Any other active sensor (emitting light, sound, or electromagnetic waves into the environment in order to measure reflections) is not allowed.
The rules appear to state that we are not allowed to have active sensors, which include any depth information based on a signal emitted from the robots. In general they should be "human-like".
That said, it seems there has been leniency in the past for lights/sounds in the use of debugging (game states, battery level, joint issues, connectivity, etc) - but not for any game-play advantage. You may be asked to turn off debug related features that may interfere with the opposing team's robots.
Depth information is still possible through passive methods, though.
Hope that helps.