Abstract: A computer-implemented method and a system for at least partially removing intrinsic static noise from data obtained by an optical time-of-flight sensor using full-waveform analysis. The method includes receiving a plurality of calibration traces, the calibration traces being obtained in a controlled environment wherein no object is present in a field of view of the optical time-of-flight sensor; determining a noise template using the calibration traces by performing a statistical analysis on the calibration traces to determine a shape and an amplitude of the intrinsic static noise in the calibration traces; receiving a normal operation trace, the normal operation trace being obtained in an uncontrolled environment wherein a presence of the object in the field of view is unknown; subtracting the noise template from the normal operation trace, obtaining and outputting a denoised signal.