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.