Good point, I don't recall offhand the paper that was the mono-RT one.

At a minimum though 6D.ai and a few others had companies that were selling this as a service at least as far back as 2017.

6D.ai wasn’t released until 2018. You may be thinking of Abound, which you wanted to license in March 2017. I don’t know of anyone else that had real-time meshing in 2017.