Distance detection by global shutter image sensor

A method of detecting a distance, comprising:

• emitting an optical pulse, the optical pulse having a pulse beginning time and a pulse ending, time;
• receiving at a first detector a reflected optical pulse, wherein the optical pulse is detected at the first detector from a first exposure start time to a first exposure finish time and has a first exposure duration;
• generating a first detector signal based on a first response of the first detector to the reflected optical pulse;
• receiving an n-th detector the reflected optical pulse, wherein the optical pulse is detected at the n-th detector from an n-th exposure start time to an n-th exposure finish time and has an n-th exposure duration;
• generating an n-th detector signal based on an n-th response of the n-th detector to the reflected optical pulse;
• receiving at an m-th detector the reflected optical pulse, wherein the optical pulse is detected at the m-th detector from an m-th exposure start time to an m-th exposure finish time and has an m-th exposure duration;
• generating an m-th detector signal based on an n-th response of the n-th detector to the reflected optical pulse;
• wherein the n-th exposure start time begins after the first exposure start time and the m-th exposure start time begins before the first exposure start time and the n-th exposure finish time and the m-th exposure finish time end after the first exposure finish time and the first exposure duration partially overlaps the n-th exposure duration and the first exposure duration is within the m-th exposure duration;
• and
• determining the distance of an object based on the first detector signal, the n-th detector signal and the m-th detector signal.