I like simplified 3D, but may I suggest to render a bit more into the distance, so orientation becomes easier. Also the lense distortion you may overcome in various ways, for instance start the ray not at 0,0, but at sin(camYaw),cos(camYaw), where camYaw is the direction you're looking in. Where in JS angles 0 to 360 are infact 0 to (pi*2).