A method of imaging a field of view, the method comprising: illuminating the field of view by means of a CW laser beam modulated at a first rate to provide a stream of laser pulses; imaging the field of view using a sensor array comprising multiple pixels; using a switch synchronized to said laser beam modulation rate, to accumulate signals obtained from each of said pixels during periods of detection of laser pulses reflected from said field of view, in a first set of pixel signal charge registers, said accumulation continuing for the duration of a predetermined plurality of pulses, to obtain from those pixels a first set of accumulated pixel signals arising from said reflected laser pulses; using said switch synchronized to said laser beam modulation rate, to accumulate signals obtained from each of said pixels in periods between the detection of pulses reflected from said field of view, in a second set of pixel signal charge registers, said accumulation continuing for said durations of said predetermined plurality of pulses, to obtain from those pixels further sets of accumulated pixel signals; reading out said first set of accumulated pixel signals and said second set of accumulated pixel signals as image information of said field of view; repeating the accumulating of signals obtained from said pixels during the detection of laser pulses reflected from said field of view, and of signals obtained from said pixels in periods between the detection of pulses reflected from said field of view, each accumulation taking place in its respective sets of pixel signal charge registers, for further durations of said predetermined plurality of pulses, to obtain from those pixels further sets of accumulated pixel signals arising from said reflected laser pulses: and reading out said further sets of accumulated pixel signals as further image information of said field of view, wherein said reading out of said further sets of accumulated pixel signals, after completion of each of said predetermined plurality of pulses, is performed at a second rate substantially lower than said first rate. illuminating the field of view by means of a CW laser beam modulated at a first rate to provide a stream of laser pulses; imaging the field of view using a sensor array comprising multiple pixels; using a switch synchronized to said laser beam modulation rate, to accumulate signals obtained from each of said pixels during periods of detection of laser pulses reflected from said field of view, in a first set of pixel signal charge registers, said accumulation continuing for the duration of a predetermined plurality of pulses, to obtain from those pixels a first set of accumulated pixel signals arising from said reflected laser pulses; using said switch synchronized to said laser beam modulation rate, to accumulate signals obtained from each of said pixels in periods between the detection of pulses reflected from said field of view, in a second set of pixel signal charge registers, said accumulation continuing for said durations of said predetermined plurality of pulses, to obtain from those pixels further sets of accumulated pixel signals; reading out said first set of accumulated pixel signals and said second set of accumulated pixel signals as image information of said field of view; repeating the accumulating of signals obtained from said pixels during the detection of laser pulses reflected from said field of view, and of signals obtained from said pixels in periods between the detection of pulses reflected from said field of view, each accumulation taking place in its respective sets of pixel signal charge registers, for further durations of said predetermined plurality of pulses, to obtain from those pixels further sets of accumulated pixel signals arising from said reflected laser pulses: and reading out said further sets of accumulated pixel signals as further image information of said field of view, wherein said reading out of said further sets of accumulated pixel signals, after completion of each of said predetermined plurality of pulses, is performed at a second rate substantially lower than said first rate.