3D 360 degree obstacle avoidence in quad copter?

Hai friends,
we are trying to develop an agricultural-based spraying quadcopter that has a max speed of 5m/s. Now we are struggling with obstacle avoidance in loiter and auto mode. we are trying to avoid trees, current poles, and high tension wires. that’s why we need 3d based obstacle avoidance. can you please suggest which type of sensor is suitable for our application? your suggestion will be very helpful for us and the farmers also. thanks in advance.