| CPC G01S 7/497 (2013.01) [G01S 7/4865 (2013.01); G01S 7/4876 (2013.01); G01S 17/14 (2020.01); G01S 17/36 (2013.01)] | 18 Claims |

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1. A method of measuring optical crosstalk in a time of flight sensor comprising a substantially transparent cover covering a light emitter and one or more photodetectors, the method comprising:
emitting a series of pulses of light from the light emitter;
using the one or more photodetectors to obtain a distribution of times at which at least one photodetector of the one or more photodetectors detected photons after each emission of the series of pulses of light,
wherein the distribution is obtained over a plurality of detection periods, each detection period containing an emission of one of the pulses of light and being divided into an identical series of time intervals relative to the emission, by counting a total number of photons detected by the at least one photodetector during instances of each time interval across the plurality of detection periods; and
if the distribution comprises two or more separate peaks, recording one or more parameters of the earliest peak.
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