Abstract: A sensor includes a plurality of pixels that each have dedicated compute circuitry within a compute layer. The plurality of pixels includes a first group of pixels and a second group of pixels. The first group of pixels is configured to detect light from a local area that has a first modulation frequency. The second group of pixels is configured to detect light from the local area that has a second modulation frequency. The compute layer is positioned below the plurality of pixels, and includes the compute circuitry for each of the plurality of pixels. The compute layer is configured to determine depth information for the local area using an indirect time-of-flight technique and one or both of the detected light that has the first modulation frequency and the detected light that has the second modulation frequency.