Regulations for Conducting Musketry Instruction of the Army
Here's a partial excerpt of the drill.
Quote:
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"...for this purpose men should be placed in front of the squad at measured distances of 50 yards apart, from 50 to 300 yards for the first practice, and afterwards from 300 to 900 yards. The attention of each volunteer should be directed to the appearance of these men, and of their features, accoutrements, &c., at the different distances; they must remember the distance at which the smaller objects become indistinct or invisible. Each volunteer should be called upon to explain to the instructor what he sees; the explanation should be in a low tone of voice, in order that the rest of the squad may not hear."
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I have another book that describes a similar drill. For instance, making out the facial features, seeing the buttons, seeing certain accoutrements, etc.
Artillerymen and other trained people could also use sound to estimate distance.