Doom is a FPS shooter popular in 90s. While it had innovative algorithms and stuff in it, it looked like your typical 3D DOS game, however I selected it because it's most known one.
Doom, while using quite polygonal walls, ceilings and floors, rendered almost everything else as scaled sprites. So your average torch was just old-school animation. Monsters and some other stuff however had 8 sets of sprites depending on vertical direction they looked at (this was not bad, Sonic games used 16 rotations and typical 3D DOS game had 4; also, I neglect symmetry here).
I can imagine UbiArt rendering sprites (although with presumably more sets) in cel-shaded 3D environment. However I have no idea is that possible with whatever algorithms used in it.