Lidar system and method of operation

A method for environment mapping, comprising:

• selecting a set of phase-bounded low cross-correlation codes (PB-LCCs), the set of PB-LCCs comprising a PB-LCC, wherein the set of PB-LCCs defines a phase bound;
• generating an optical output, comprising modulating a carrier signal based on the PB-LCC;
• throughout a time period, transmitting the optical output into an environment;
• at an optical sensor, receiving a return signal, the return signal comprising a reflection, from an object within the environment, of the optical output;
• determining a sample by selecting a contiguous time window of the return signal;
• generating a filtered sample, comprising filtering the sample based on the PB-LCC;
• determining a phase delay associated with the filtered sample, wherein the phase delay is within the phase bound;
• and
• based on the phase delay, determining a relative location of the object.