Imaging apparatus including light source that emits pulsed light, image sensor, and control circuit

An imaging apparatus comprising:

• a light source;
• an image sensor;
• and
• a control circuit that, in operation, controls the light source and the image sensor,
• wherein the control circuit, in operation,
• causes the light source to emits a first pulsed light and a second pulsed light to a measurement target;
• causes the image sensor to detect a first returned pulsed light which is returned from the measurement target to the image sensor due to emission of the first pulsed light;
• estimates a distance between the image sensor and the measurement target based on the first returned pulsed light;
• and
• causes the image sensor to start to detect a second returned pulsed light which is returned from the measurement target to the image sensor due to emission of the second pulsed light, at a timing in a falling period of the second returned pulsed light, the falling period being a period from start to end of a decrease of an intensity of the second returned pulsed light, and
• wherein the timing is adjusted based on the distance.