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Yes, mainly laser scanners. Stereo vision or any other sensor with a better min-range will work.
Probably no, if the sensor doesn't give you any data an algorithm cannot do anything.
I said probably because, if you don't get max-range readings in the kinect data if the obstacles are nearer than min-dist, then the octomap doesn't map free space. So the cells where there is no data will be unknown. Your algorithms can now treat unknown cells as obstacles or more precisely you should only plan through free space.
There are some caveats however: Noisy distant readings might still get you free space. Also, you'd probably have to get free space cells for the full height of the robot now and thus might need to actively explore the 3D space.
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