A method performed by a lidar system comprising: transmitting, for an initial pixel of two consecutive pixels (306-11, 306-21), a first transmit signal, the first transmit signal having a first amplitude modulation; transmitting, for a subsequent pixel of the two consecutive pixels (306-11, 306-21), a second transmit signal, the second transmit signal having a second amplitude modulation, the second amplitude modulation different than the first amplitude modulation; receiving, during a detection window (T i11) and in which at least a portion of the first transmit signal and the second transmit signal are transmitted, a return signal; characterized by generating, by comparing in a frequency domain the return signal to a first template signal and a second template signal, a first comparison result and a second comparison result, respectively, the first template signal having the first amplitude modulation, the second template signal having the second amplitude modulation; determining, based on the first comparison result and the second comparison result, a respective pixel of the two consecutive pixels (306-11, 306-21) that corresponds to the return signal; and identifying, based on the return signal, a characteristic of an object that reflected the return signal, the object located within an area associated with the respective pixel, wherein the determining of the respective pixel of the two consecutive pixels (306-11, 306-21) corresponding to the return signal comprises: determining, among the first comparison result and the second comparison result, a largest peak value and a frequency of the largest peak value, wherein the frequency of the largest peak value is a beat frequency of the return signal; and identifying a template signal used to generate a comparison result associated with the largest peak value, the template signal among the first template signal and the second template signal and associated with the largest peak value and the comparison result among the first comparison result and the second comparison result. transmitting, for an initial pixel of two consecutive pixels (306-11, 306-21), a first transmit signal, the first transmit signal having a first amplitude modulation; transmitting, for a subsequent pixel of the two consecutive pixels (306-11, 306-21), a second transmit signal, the second transmit signal having a second amplitude modulation, the second amplitude modulation different than the first amplitude modulation; receiving, during a detection window (T i11) and in which at least a portion of the first transmit signal and the second transmit signal are transmitted, a return signal; characterized by generating, by comparing in a frequency domain the return signal to a first template signal and a second template signal, a first comparison result and a second comparison result, respectively, the first template signal having the first amplitude modulation, the second template signal having the second amplitude modulation; determining, based on the first comparison result and the second comparison result, a respective pixel of the two consecutive pixels (306-11, 306-21) that corresponds to the return signal; and identifying, based on the return signal, a characteristic of an object that reflected the return signal, the object located within an area associated with the respective pixel, wherein the determining of the respective pixel of the two consecutive pixels (306-11, 306-21) corresponding to the return signal comprises: determining, among the first comparison result and the second comparison result, a largest peak value and a frequency of the largest peak value, wherein the frequency of the largest peak value is a beat frequency of the return signal; and identifying a template signal used to generate a comparison result associated with the largest peak value, the template signal among the first template signal and the second template signal and associated with the largest peak value and the comparison result among the first comparison result and the second comparison result. determining, among the first comparison result and the second comparison result, a largest peak value and a frequency of the largest peak value, wherein the frequency of the largest peak value is a beat frequency of the return signal; and identifying a template signal used to generate a comparison result associated with the largest peak value, the template signal among the first template signal and the second template signal and associated with the largest peak value and the comparison result among the first comparison result and the second comparison result.