A computer-implemented method for at least partially removing extrinsic static noise from full-waveform data obtained using an optical time-of-flight sensor having a plurality of synchronized photosensitive elements, at least some of said synchronized photosensitive elements being positioned in proximity thereby allowing electromagnetic crosstalk caused by an aggressor photosensitive element of said plurality to affect at least one victim photosensitive element of said plurality, the computer-implemented method comprising use of at least one processing unit for: receiving a plurality of aggressor calibration traces from said aggressor photosensitive element and a plurality of victim calibration traces from said at least one victim photosensitive element, the aggressor calibration traces and the victim calibration traces being obtained in a controlled environment wherein an amplitude of a calibration peak of said aggressor calibration traces is varied and no object is present in a field-of-view of said at least one victim photosensitive element; finding a mathematical representation of the electromagnetic crosstalk present in said plurality of victim calibration traces for each of said at least one victim photosensitive element using said aggressor calibration traces and said victim calibration traces; determining a predetermined threshold for each of said at least one victim photosensitive element using said aggressor calibration traces and said victim calibration traces, said predetermined threshold corresponding to a minimum amplitude of said calibration peak of said aggressor calibration traces at which said electromagnetic crosstalk is present in said plurality of victim calibration traces; receiving an operation trace from said aggressor photosensitive element, said operation trace being obtained in an uncontrolled environment wherein a shape of a detection peak of said operation trace is determined by a presence of an object in a field-of-view of said optical time-of-flight sensor during normal operation, said shape including an amplitude and a location of said detection peak; comparing said amplitude of said detection peak of said operation trace to said predetermined threshold and identifying the operation trace as being an aggressor signal created by said aggressor photosensitive element if the amplitude of the detection peak is greater than said predetermined threshold; receiving at least one synchronized victim operation trace from said at least one victim photosensitive element; predicting the extrinsic static noise generated by the aggressor signal on said at least one synchronized victim operation trace using said mathematical representation for each of said at least one victim photosensitive element to generate a predicted crosstalk signal; removing the predicted crosstalk signal from said synchronized victim operation trace, thereby obtaining at least one denoised signal; and outputting the at least one denoised signal. receiving a plurality of aggressor calibration traces from said aggressor photosensitive element and a plurality of victim calibration traces from said at least one victim photosensitive element, the aggressor calibration traces and the victim calibration traces being obtained in a controlled environment wherein an amplitude of a calibration peak of said aggressor calibration traces is varied and no object is present in a field-of-view of said at least one victim photosensitive element; finding a mathematical representation of the electromagnetic crosstalk present in said plurality of victim calibration traces for each of said at least one victim photosensitive element using said aggressor calibration traces and said victim calibration traces; determining a predetermined threshold for each of said at least one victim photosensitive element using said aggressor calibration traces and said victim calibration traces, said predetermined threshold corresponding to a minimum amplitude of said calibration peak of said aggressor calibration traces at which said electromagnetic crosstalk is present in said plurality of victim calibration traces; receiving an operation trace from said aggressor photosensitive element, said operation trace being obtained in an uncontrolled environment wherein a shape of a detection peak of said operation trace is determined by a presence of an object in a field-of-view of said optical time-of-flight sensor during normal operation, said shape including an amplitude and a location of said detection peak; comparing said amplitude of said detection peak of said operation trace to said predetermined threshold and identifying the operation trace as being an aggressor signal created by said aggressor photosensitive element if the amplitude of the detection peak is greater than said predetermined threshold; receiving at least one synchronized victim operation trace from said at least one victim photosensitive element; predicting the extrinsic static noise generated by the aggressor signal on said at least one synchronized victim operation trace using said mathematical representation for each of said at least one victim photosensitive element to generate a predicted crosstalk signal; removing the predicted crosstalk signal from said synchronized victim operation trace, thereby obtaining at least one denoised signal; and outputting the at least one denoised signal.