Active signal detection using adaptive identification of a noise floor

A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:

• causing a light emitter to emit a light pulse;
• discriminating a return pulse from noise in a signal received at a light sensor, the return pulse including light from a reflection of the light pulse and noise;
• and
• determining a distance to an object that reflected at least part of the light pulse to the light sensor based, at least in part, on a delay between emitting the light pulse and a time associated with receiving the return pulse at the light sensor, wherein discriminating the return pulse from the noise in the received signal includes:
• determining a noise floor, determining the noise floor including:
• determining a moving average of a magnitude of the received signal;
• and
• at least one of shifting or scaling the moving average based, at least in part, on at least one property of the received signal;
• determining a number of samples of the received signal associated with a magnitude exceeding the noise floor;
• determining that the number of samples exceeds a threshold number;
• and
• indicating, based, at least in part, on the determination that the number of samples exceeds the threshold number, that the samples that exceed the noise floor are indicative of the return pulse.