Abstract: A method and system for the detection of an object in a detection zone for a scannerless optical rangefinder operating in pulsed Time-of-Flight operation are described. The method comprises pulsating a light source to illuminate the detection zone using an emission beam; receiving a reflection from the detection zone, collecting the reflection using an optical detector and generating a reflection signal; discretizing the detection zone to create a predetermined detection pattern in the detection zone, the predetermined detection pattern being one of regular, uniform and random, the predetermined detection pattern including passive areas and discrete active detection areas within the detection zone; detecting an object in one of the discrete active detection areas by comparing a change in the reflection signal with a background signal.