Abstract: A sensor module for connection to a handheld rangefinder instrument and for providing sensor data for the rangefinder instrument includes an electronic interface for connection to an applicable interface of the rangefinder instrument, and at least one electronic sensor component for generating the sensor data. A system for handheld measurement of distances to a surface region of an object includes a sensor module of this kind and a handheld rangefinder instrument having a first laser rangefinder. When the interfaces are connected to one another, the sensor module is configured for transmitting the sensor data to the rangefinder instrument, and the interfaces are configured for transmitting electric power from the rangefinder instrument to the sensor module, in which the sensor module is configured to operate the at least one sensor component by means of the electric power transmitted by the rangefinder instrument.

Abstract: An example method involves rotating a sensor that emits light pulses and detects reflections of the emitted light pulses based on a pointing direction of the sensor. The method also involves identifying a range of pointing directions of the sensor that are associated with a target region of an environment. The method also involves determining whether a current pointing direction of the sensor is within the identified range. The method also involves modulating the emitted light pulses according to a first modulation scheme in response to a determination that the current pointing direction is within the identified range. The method also involves modulating the emitted light pulses according to a second modulation scheme in response to a determination that the current pointing direction is outside the identified range. The second modulation scheme is different than the first modulation scheme.

Abstract: The present invention relates to an electronic device and method for controlling a display by eye tracking. The method for controlling a display by eye tracking according to the present invention may comprise the steps of: tracking of line of sight of eyes; displaying, on a screen, a user interface for controlling the screen using the tracked line of sight; and executing a function selected in response to a selection of any menu item of the user interface by the tracked line of sight.

Abstract: A method for scanning a scan angle in which at least two beams are generated. The at least two beams are deflected along the scan angle, and the at least two incident beams reflected on an object are received and detected, the at least two beams being generated and detected in an offset manner with respect to one another. Furthermore, a LIDAR device for scanning a scan angle is also described.

Abstract: Systems described herein use outside-in positional tracking. A base station emits one or more rotational light beams to illuminate a local area. The rotational light beams rotate around a rotation axis and are used for positional tracking of one or more objects in the local area. A beam waist of a source light beam for generating the rotational light beams is positioned to be within a distance range from a center of rotation of the rotational light beams. An apparent frequency of the particular rotational light beam can be constant or substantially constant throughout a local area. Because the apparent frequency of the particular rotational light beam is constant or substantially constant throughout the local area, the frequency response of a detector in response to the illumination by the rotational light beam is within a limited range of values irrespective of the detector's location within the local area.

Abstract: A distance measuring system includes a light emitting member, an optical member, an image sensing member, and a computing member. The light emitting member provides a light beam to an object. The optical member is disposed on a transmission path of the light beam reflected by the object. The image sensing member is disposed on a transmission path of the part of the light beam passing through the optical member, and the image sensing member has an image sensing area for receiving the part of the light beam passing through the optical member and receiving the part of the light beam not passing through the optical member. The computing member compares a difference between the deformation area and the non-deformation area of the object image so as to obtain a distance variation of the object.

Abstract: A method and apparatus for fixing a depth map wrap-around error and a depth map coverage by a confidence map. The method includes dynamically determining a threshold for the confidence map threshold based on an ambient light environment, wherein the threshold is reconfigurable depending on LED light strength distribution in TOF sensor, extracting, via the digital processor, four phases of Time Of Flight raw data from the Time Of Flight sensor data, computing a phase differential signal array for fixed point utilizing the four phases of the Time Of Flight raw data, computing the depth map, confidence map and the average light signal strength utilizing the phase differential signal array, obtaining the dynamic confidence map threshold for wrap around error correction utilizing the average light signal strength, and correcting the depth map wrap-around error utilizing the depth map, the confidence map and the dynamic confidence map threshold.

Abstract: A method and apparatus for vehicle recognition are provided, which are combined with a radar apparatus scanning a detection area with electromagnetic waves. Data derived from reflection waves are outputted from the radar apparatus to the vehicle recognizing apparatus to detect a vehicle in the detection area. The vehicle recognizing apparatus is provided with a processor performing a process for the recognition on calculation of the received data for the recognition of vehicles. In the process, weak-refection directions providing weak-reflection points on a vehicle are determined which are defined as radiation directions of the electromagnetic waves in which the reflection waves have intensities lower than a threshold. A common reflection point group defined as a group of reflection points belonging to the same vehicle is supplemented with the weak-reflection points for completing the common reflection point group.

Abstract: A coordinate measuring device includes: a light source operable to emit a first light, the first light being visible light having a first wavelength; a fiber launch operable to receive the first light through a first optical fiber, to launch the first light into free space, and to collimate the launched first light into a first beam of light having a diameter_defined by the fiber launch, the first beam of light operable to leave the coordinate measuring device absent an intervening beam expander, the fiber launch being further coupled through the first optical fiber to a distance meter operable to measure a first distance to a retroreflector illuminated by the first beam of light; a first motor and a second motor operable to direct the first beam of light to a first direction, the first direction determined by a first angle of rotation about a first axis and a second angle of rotation about a second axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the

Abstract: A robot includes a base, a body connected to the base, a pair of articulated arms rotatably connected to the body, and a moving mechanism adapted to move the body toward or away from the base. Further, a relative positional relationship with a workbench is detected by moving the body with respect to the base using the moving mechanism while keeping the articulated arms in predetermined postures while facing the workbench, and then making the articulated arms contact the workbench.

Abstract: Depth information may be encoded into pixels of visual imaging data according to steganographic techniques. The depth information may be captured simultaneously with the visual imaging data, and one or more representative pixels may be identified within a region or sector of the visual imaging data according to a pixel traversal strategy. The depth information corresponding to the region or sector may be encoded into one or more least significant bits of the representative pixels, and a modified set of imaging data including the visual imaging data with the depth information encoded into the representative pixels may be stored in a data store and used for any relevant purpose.

Abstract: An object detecting device includes: a light source which includes a plurality of light emitting units arranged in a sub-scanning direction; a deflector which deflects light from the light source; and an optical detector which includes a plurality of light receiving units arranged in the sub-scanning direction so as to correspond to the plurality of light emitting units, and receives light deflected by the deflector and reflected by an object.

Abstract: TOF system optical power is augmented using auxiliary optical emitter unit(s) that may be a wireless (WOE), or a plug-wired (PWOE). WOE units sense emitted TOF system optical energy Sout and emit optical energy Sout-n preferably dynamically synchronized in frequency and in phase to Sout as received by the WOE. Each WOE includes at least one optical sensor to detect Sout, and internal feedback ensuring that frequency and phase of the WOE emitted Sout-n optical energy are dynamically synchronized with frequency and phase of the TOF emitted Sout optical energy. PWOE units need no internal feedback but are calibrated by the TOF system to cause a close match between frequency and phase of the PWOE-emitted optical energy with what would be emitted by the TOF system primary optical source. If PWOE(s) are used in isolation, delay difference between PWOE and the TOF primary optical energy source can be software-compensated.

Abstract: A motion sensor device according to an embodiment of the present disclosure includes an image sensor and LED light sources. Using three images captured by the image sensor when only the LED light source is turned ON, when only the LED light source is turned ON, and when only the LED light source is turned ON, respectively, the motion sensor device estimates the distance to an object based on the luminance ratio of the object.

Abstract: A three-dimension position tracking system is presented. The system includes transmitters and receivers. A transmitter scans continuous or pulsed coherent light beams across a target. The receiver detects the reflected beams. The system recursively determines the location of the target, as a function of time, via triangulation and observation of the time-of-flight of the incoming and outgoing beams. The transmitter includes ultra-fast scanning optics to scan the receiver's field-of-view. The receiver includes arrays of ultra-fast photosensitive pixels. The system determines the angles of the incoming beams based on the line-of-sight of the triggered pixels. By observing the incoming angles and correlating timestamps associated with the outgoing and incoming beams, the system accurately, and in near real-time, determines the location of the target.

Abstract: A noncontact optical three-dimensional measuring device that includes a projector, a first camera, and a second camera; a processor electrically coupled to the projector, the first camera and the second camera; and computer readable media which, when executed by the processor, causes the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time and determines three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance and determines three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.

Abstract: Techniques for using small parallax angles in remote sensing to determine cloud feature height include exploiting two identical medium-resolution SWIR bands with parallax to estimate cloud edge feature heights well enough to enable assessments of the impacts of shadows and proximate cloud scattering on ground illumination, and hence, on reflectance calculations. The bands are intentionally designed to have a suitable parallax angle, in one embodiment approximately 1.5 degrees. With this parallax, one band will see more ground pixels than the other band as they encounter a leading edge of a cloud and the other band will see more ground pixels than the one band as they encounter the lagging edge of the cloud. From these numbers of pixels, the height of the leading and lagging edges of the cloud can be determined.

Abstract: A distance measuring system and method employing a laser distance sensor may have utility in various applications. In accordance with one aspect of the present invention, a laser distance sensor may acquire accurate distance measurements with a short baseline.

Abstract: The present invention relates to a method and system for detecting and mapping three-dimensional information pertaining to one or more target objects. More particularly, the invention consists of selecting one or more target objects, illuminating the one or more target objects using a first light source and capturing an image of the one or more target objects, then, illuminating the same one or more target objects using a second light source and capturing an image of the one or more target objects and lastly calculating the distance at the midpoint between the two light sources and the one or more target objects based on the decay of intensities of light over distance by analyzing the ratio of the image intensities on a pixel by pixel basis.

Abstract: Disclosed is a distance measuring device using an optical comb. In order for the absolute distance to an object to be measured which has a surface with low reflection ratio or a scattering surface and is approximately 10 m apart, to be easily measured with accuracy of 0.1 mm or more using an optical and contactless method, the distance measuring device which measures the distance to the object to be measured is configured such that the distance to the object to be measured is measured by comparing the phase of the beat signal between a light source and a plurality of CW lasers which are reflected or scattered by the object with the phase of the beat signal between the light source and a plurality of CW lasers prior to being irradiated onto the object.

Abstract: A photogate electrode has a planar shape of a rectangular shape having first and second long sides opposed to each other and first and second short sides opposed to each other. First and second semiconductor regions are arranged opposite to each other with the photogate electrode in between in a direction in which the first and second long sides are opposed. Third semiconductor regions are arranged opposite to each other with the photogate electrode in between in a direction in which the first and second short sides are opposed. The third semiconductor regions make a potential on the sides of the first and second short sides higher than a potential in a region located between the first and second semiconductor regions in a region immediately below the photogate electrode.

Abstract: A detection system for detecting an object includes a transmitter including a light source configured to emit a first light beam having a first frequency towards the object. The detection system also includes a receiver configured to receive a second light beam reflected from the object, and a detector positioned within the receiver. The second light beam has a second frequency as a result of a non-linear optical response of a surface of the object to the first light beam. The detector is configured to detect the object based on the second frequency of the second light beam.

Abstract: Separate reception/transmission apertures enhance pointing: reception is more efficient than transmission (kept smaller for MEMS steering). Apparatus aspects of the invention include lidar transmitters emitting laser beams, and scan mirrors (or assemblies) angularly adjustable to deflect the beams in orthogonal directions. In one aspect, afocal optics magnify deflection; a transmitter aperture transmits the beam; a lidar receiver doesn't share the transmitter aperture. In another aspect, auxiliary optics calibrate the deflection. A method aspect of the invention notices and responds to a remote source—using a similar local laser, adjustable scan mirror or assembly, afocal deflection magnifier, transmission aperture and separate receiver. Method steps include operating the receiver to notice and determine location of the remote source; and controlling the transmitter to direct laser light back toward that location.

Abstract: A CMOS detector with pairs of interdigitated elongated finger-like collection gates includes p+ implanted regions that create charge barrier regions that can intentionally be overcome. These regions steer charge to a desired collection gate pair for collection. The p+ implanted regions may be formed before and/or after formation of the collection gates. These regions form charge barrier regions when an associated collection gate is biased low. The barriers are overcome when an associated collection gate is high. These barrier regions steer substantially all charge to collection gates that are biased high, enhancing modulation contrast. Advantageously, the resultant structure has reduced power requirements in that inter-gate capacitance is reduced in that inter-gate spacing can be increased over prior art gate spacing and lower swing voltages may be used. Also higher modulation contrast is achieved in that the charge collection area of the low gate(s) is significantly reduced.

Abstract: In one aspect, a method includes transmitting a tone waveform from a laser detection and ranging (LADAR) sensor, detecting a target using an echo of the tone waveform reflected from the target, determining a radial velocity of the target using the echo of the monotone waveform from the target, transmitting, from the LADAR sensor, linear frequency modulation (FM) chirp signals and determining a range to target using echoes from the linear FM chirp signals.

Abstract: A method for operating a chromatic range sensor (CRS) system to identify abnormal spectral profiles arising from light reflected from more than one portion of a workpiece surface is provided. The method comprises: providing a CRS system comprising: an optical element, a light source, and CRS electronics comprising a CRS wavelength detector; operating the CRS system to receive an output spectral profile from a measurement point on a workpiece surface and provide corresponding output spectral profile data; analyzing the output spectral profile data to provide a peak region asymmetry characterization; and providing a corresponding abnormality indicator if the peak region asymmetry characterization indicates that the peak region is abnormally asymmetric.

Abstract: A three-dimensional scanner according to one aspect of the embodiments includes an irradiation unit, an imaging unit, a position detecting unit, and a scanning-region determining unit. The irradiation unit emits a slit-shaped light beam while changing an irradiation position with respect to a measuring object. The imaging unit sequentially captures images of the measuring object irradiated with the light beam. The position detecting unit detects a position of the light beam in an image captured by the imaging unit by scanning the image. The scanning-region determining unit determines a scanning region in an image as a scanning target by the position detecting unit based on a position of the light beam in an image captured by the imaging unit before the image as a scanning target.

Abstract: A method of establishing the location of a pair construction points for a stud in a building interior at a construction site and for determining the length of the stud needed to extend between the pair of construction points uses a robotic total station. The points are defined by x and y coordinates and anticipated z coordinates on upper and lower surfaces. The robotic total station establishes the points by directing a beam of laser light toward anticipated points and, through an iterative process, determining the actual location of the points on upper and lower surfaces that have the same x and y coordinates.

Abstract: Determination of a sensor device location in a sensor network is described. A system can include rotating optical beams having a known location. Detectors can be located with each of the rotating optical beams. The system can include a sensor device placeable as part of the sensor network. A reflector can be near the sensor device and can reflect at least two optical beams back to the detectors associated with each of the respective optical beams. A triangulation module can triangulate a position of the reflector, and thus the sensor, based on the reflected optical beams.

Abstract: Coordinate measurement device configured to send a first beam of light to a target includes first and second light sources configured to emit first and second lights having differing first and second wavelengths; fiber-optic coupler that includes three ports, a first port configured to accept a first portion of the first light, a second port configured to accept a second portion of the second light, a third port configured to transmit a third light which includes a portion of the first and second portions; first and second angle measuring devices configured to measure first and second angles of rotation; distance meter configured to measure a first distance from the device to the target based at least in part on a third portion of the second beam received by an optical detector; and a processor configured to provide 3D coordinates of the target.

Abstract: An optical ranging device has a light emitting element, a light receiving element, a light emitting lens, and a light receiving lens. Provided between the light receiving lens and the light receiving element are a first reflection surface and a second reflection surface for changing a direction of an optical axis of a light beam condensed by the light receiving lens and guiding the light beam to the light receiving element. A single medium exists between the first reflection surface and the second reflection surface.

Abstract: In a device for optically scanning and measuring an environment, where the device is a laser scanner having a light emitter which, by a rotary mirror, emits an emission light beam, with a light receiver which receives a reception light beam, which, after passing the rotary mirror and a receiver lens which has an optical axis, is reflected from an object in the environment of the laser scanner. The laser scanner also includes a control and evaluation unit which, for a multitude of measuring points, determines the distance to the object. Also, a rear mirror is provided on the optical axis behind the receiver lens, where the rear mirror reflects towards the receiver lens the reception light beam which is refracted by the receiver lens.

Abstract: A method for adjusting the modulating frequency and the intensity of the IR illumination of a Time of Flight measurement system proportionally to the speed of movement and the ambient light level of the TOF system, thus adjusting the range of vision of the system dependent on speed. In an alternate embodiment the modulating frequency of a TOF measurement system is periodically adjusted to cover a larger range of vision of the TOF.

Abstract: A laser rangefinder includes a scanning laser emitter emitting a narrow laser beam, a controller in communication with the scanning laser emitter and configured to control the scanning laser emitter to emit the laser beam to scan a preset range in a preset manner, a laser detector positioned adjacent to the scanning laser emitter and configured to capture an image of a spot formed by the laser beam reflected off an object; and a processor in communication with the controller and the laser detector. The processor is configured to obtain an angle that the laser beam is tilted and process the image to obtain position coordinates of the spot in the image. The processor is further configured to calculate a distance from the laser rangefinder to the object based upon the angle and the position coordinates of the spot.

Abstract: A method and system for 3D surface mapping system using a plurality of image sensors, each image sensor associated with an optical flow processor, each image sensor sharing a substantially coaxial optical path from the scene to a beam splitter and having substantially non-coaxial optical paths between the beam splitter and the image sensor such that the optical magnification of each optical path varies differently with the distance between the system and the surface of interest. The ratio of detected optical flows combined with the parameters of the two optical paths and the baseline between the image sensors is used to compute the Z-distance from the optical center of the image sensors to the surface.

Abstract: A technique includes using at least one emitter to generate a first optical signal to propagate along a first optical path to interact with a target, to generate a second optical signal and generate a third optical signal to propagate along a second optical path other than the first optical path to generate a fourth optical signal. The technique includes using at least one receiver to acquire a first measurement of the second optical signal and acquire a second measurement of the fourth optical signal. The technique includes generating an indication of a parameter that is associated with a target, which includes scaling a ratio of the first and second measurements based at least in part on optical communication between the emitter(s) and the receiver(s) that does not involve interaction with the target.

Abstract: A coordinate measurement device sends a first light beam to a target which returns a portion as a second beam. The device includes: first and second motors that direct the first beam to a first direction determined by a first angle of rotation about a first axis and a second angle of rotation about a second axis, the first and second angles of rotation produced by the first and second motors, respectively; first and second angle measuring devices that measure first and second angles of rotation, respectively; a distance meter that measures a first distance from the device to the target based in part on a first portion of the second beam; a processor that provides a 3D coordinate of the target based in part on the first distance and the first and second angles of rotation; and a retractable handle at the device top side.

Abstract: Systems, methods, and other embodiments associated with distance based position measurement are described. In one embodiment, an apparatus is configured to be positioned proximate a feature of interest. The apparatus includes a laser distance meter (LDM) configured to emit a laser beam and to determine first and second distances between the LDM and first and second targets. The first and second targets have known positions in three dimensions with respect to a reference plane from which the LDM is located. The apparatus also includes a trilateration unit configured to compute a two dimensional position of the LDM relative to the targets based, at least in part, on the first and second distances.

Abstract: An optical sensor for measuring at least one of a range, a position, and a profile of an object that is to be measured, the measured object emitting electromagnetic radiation due to the temperature of the object to be measured, and the sensor having a light source for illuminating the surface of the measured object and a detector for detecting the illuminating light reflected at the object to be measured, wherein with respect to the measurability even on the bodies that emit electromagnetic radiation, the light generated by the light source has a wavelength below the peak of the Planck radiation spectrum of the object that is to be measured. A corresponding method is specified.

Abstract: An active retrodirective antenna array is provisioned with a virtual beacon for use with uncooperative targets. An RF pilot signal is imposed onto an optical carrier beam and directed at a target. The scattered optical carrier beam is optically detected by a plurality of the retrodirective array nodes to extract the RF pilot signal. Each recovered RF pilot-signal is phase-conjugated with a phase reference signal, amplified and retransmitted towards the target where the RF beams add-in phase at the virtual beacon. The array may be used to complete an RF communication link with the target, to transfer microwave power from orbiting solar power stations to a target or as a directed energy weapon to prosecute the target.

Abstract: The present invention provides an inexpensive range image sensor and etc. A range image sensor comprises diffractive optical elements and on which are formed diffractive gratings that change a traveling direction of incident parallel light so that in a coordinate space defined by a xyz-axis, the incident parallel light is split into split beams, and angles formed by the x-axis and line segments determined by projected light spots formed by the split beams on a predetermined projection plane intersecting the z-axis become predetermined angles. Furthermore, the range image sensor is provided with a distance determining unit for determining distances to the projected light spots on the basis of the tilting with respect to the x-axis of the line segments determined by the projected light spots formed on the object by the split beams.

Abstract: In a staring infrared countermeasures system, wherein the improvement comprises a semiconductor material emitter for providing a specific infrared wavelength to provide protection against an infrared radiation guided missile.

Abstract: A position estimation system comprising a plurality of ‘shaped for depth sensing’ lenses comprising a lens profile directly based on distance estimation propagation of errors; a plurality of light sensing devices associated with the plurality of ‘shaped for depth sensing’ lenses; and a position estimator for estimating a position of at least a first object with respect to a second object based on the plurality of ‘shaped for depth sensing’ lenses and the plurality of light sensing devices.

Abstract: A method for building a fast scan system is provided in which a scanner moves the scan sensors faster than scanners of the prior art, even though the total distance that the scan sensors move longer. The scan system includes (a) a scan sensor that measures the scan target by moving around it, and (b) a data processing system that calculates a parameter of the scan target from the collected data. The scan sensor, which has a limited sensing bandwidth, is moved along multiple paths along the target at a scan speed that is faster than the scan speed determined by the scan sensor bandwidth, so as to obtain a clear signal directly from the scan sensor output. The target is then recovered from the scan output using a compressed sampling data recovery data processing method.

Abstract: An indoor surveying apparatus comprises a 2D range finder, means for automatically aligning 2D range finder data and computing a 2D map of the environment, a calibrated optical imaging system for capturing images of environment, and means for establishing positions and extents of walls, doors, and windows and for drawing floor plans using the computed 2D map and calibrated images where 2D range finder data is missing. It is further contemplated that the imaging system can also be part of the range finder, that the range finder can be a scanning laser range finder, that the imaging system can include a panoramic lens with 180 degree field of view, that the apparatus can further include an IMU, an electronic compass, a panoramic rotator, and means for measuring positions of points on the floor using the image data.

Abstract: Systems and methods improve the accuracy of spatial coordinate measurements by optical digitizers by obtaining a separate distance measurement, which may be via direct ranging rather than triangulation, and combining the distance measurement with the spatial coordinate measurements to improve the accuracy of the three-dimensional spatial coordinate measurement.

Abstract: A target equipped with a reflector can be tracked in a measuring system including a laser tracker. The reflector is tracked by means of a tracking unit in a normal tracking mode and by means of a surveying device in an extraordinary tracking mode. A capturing unit having a detection range lying between the detection ranges of the tracking unit and of the surveying device is also present. If the target cannot be detected by the tracking unit but can be detected by the capturing unit, the orientation of the tracking unit is controlled according to a measurement by the capturing unit. If the target can then be detected by the tracking unit, a transition to the normal tracking mode is initiated. If the target can be detected only by the surveying device, the orientation of the tracking unit is controlled according to a measurement of the surveying device.

Abstract: Haze-type phase shift error due to stray light reflections in a phase-type TOF system is reduced by providing a windowed opaque coating on the sensor array surface, the windows permitting optical energy to reach light sensitive regions of the pixels, and by reducing optical path stray reflection. Further haze-type error reduction is obtained by acquiring values for a plurality (but not necessarily all) of pixel sensors in the TOF system pixel sensor array. Next, a correction term for the value (differential or other) acquired for each pixel in the plurality of pixel sensors is computed and stored. Modeling response may be made dependent upon pixel (row,column) location within the sensor array. During actual TOF system runtime operation, detection data for each pixel, or pixel groups (super pixels) is corrected using the stored data. Good optical system design accounts for correction, enabling a simple correction model.

Abstract: A laser range finder includes: a light source emitting light from a linear light-emitting portion with making a divergent angle of the light larger in a transversal direction of the light-emitting portion than in a longitudinal direction thereof; an objective lens projecting the light onto a target object and converging reflection light; a partial reflection member disposed between the light source and the objective lens and having a partial reflection surface composed of a transmitting area transmitting light emitted from the light source and receiving areas reflecting reflection light; and a photodetector detecting the reflection light reflected by the receiving areas; wherein the light source and the partial reflection member are disposed with making the longitudinal direction of the light-emitting portion disposed substantially perpendicular to a longitudinal direction of the transmitting area as seen along an optical axis.

Abstract: A TOF system acquires depth data using n?3 modulation frequencies f1, f2, . . . , fm separately, associated with separate aliasing interval ranges Z1, Z2, . . . , Zm. Next, n intermediate frequencies fDE1, fDE2, . . . , fDEn are generated sorted by order of fDE1<fDE2< . . . <fDEn and corresponding phases are computed from the data acquired separately using f1, f2, . . . , fm. Hierarchically dealiasing of the thus-acquired data is carried out using the generated intermediate frequencies. Hierarchical dealiasing may be carried out one step at a time, if desired. Thus operated, the TOF system provides an effective aliasing interval range ZD>Zk for k=1 . . . n as if said TOF system operated at a very low modulation frequency fD, while simultaneously providing depth resolution certainty as if said TOF system operated at a high modulation frequency fE. Preferably high modulation frequency fE is a function of all modulation frequencies f1, f2, . . .