Shorter range lidars (<10m) tend to work in the frequency domain because you can get pretty good ranging accuracy. Longer range lidars work in the time domain.

Shorter range lidars (<10m) tend to work in the frequency domain because you can get pretty good ranging accuracy. Longer range lidars work in the time domain. The SPAD detectors used by Ouster create a pulse when a single photon is detected and so you're measuring the time of flight of the photon being emitted by the vscel and then being detected by the SPAD array.