MULTIPATH MITIGATION FOR TIME OF FLIGHT SYSTEM

A time-of-flight (ToF) system disclosed herein provides a method of a method of separating a direct component of light collected by a time of flight (ToF) detector from a global component of light collected by the ToF detector, the method comprising acquiring three or more images represented by three or more matrices in response to illuminating a target with a light source using a first spatial pattern at three or more different modulation frequencies, acquiring an additional image represented by an additional matrix in response to illuminating the target with the light source using a second spatial pattern, the second spatial pattern being different than the first spatial pattern, and determining one or more parameters of the direct component of light and the global component of light based on analysis of the three or more matrices and the additional matrix.