Abstract: A projector sequentially generates light pulses to form a sparse grid array. The light pulses reflect off objects in an environment and are reflected towards a sensor array. The sensor array sequentially senses the reflected light pulses across pixels of the sensor array. A depth sensing system calculates depth information of objects in the environment based on the sequential nature of the pulse generation and the pulse sensing. The depth sensing system calculates depth information based on both the positional and temporal information of generated light pulses, and the positional and temporal information of sensed light pulses. The depth sensing system may generate a representation of the environment based on the depth information.