Are you sure you mean doppler shift and not just phase shift due to the distance the light traveled? AFAIK the Time of Flight cameras like the ones from PMD use

Are you sure you mean doppler shift and not just phase shift due to the distance the light traveled? AFAIK the Time of Flight cameras like the ones from PMD use the phase shift with the obvious problem of the calculated distance being ambiguos beyond a certain distance due to the periodic signal. But sensors like Velodyne, SICK and I think Hokuyo are pulsed and measure the actual time it takes for the pulse to travel from the emitter to the target and back to the detector.