Using time-of-flight and pseudo-random bit sequences to measure distance to object

An apparatus comprising:

• an imaging sensor configured to perform a distance measurement;
• a camera configured to obtain a 2-D image of an environment;
• a memory;
• a light source;
• and
• control circuitry coupled to the imaging sensor, the camera, the memory and the light source, the control circuitry configured to cause a first light emission from the light source and a second light emission from the light source;
• wherein the imaging sensor is configured to detect a first echo resulting from the first light emission being reflected by an object and to detect a second echo resulting from the second light emission being reflected by the object;
• wherein the control circuitry is further configured to:
• determine, based on the first echo, an estimated distance to the object;
• identify, within the second echo, data corresponding to the estimated distance;
• generate a histogram using the identified data that corresponds to the estimated distance in combination with the 2-D image of the environment obtained from the camera;
• and
• store the histogram in the memory.