A method of using an optical time-of-flight (TOF) module to determine distance to an object, the method comprising: emitting radiation out of the module; acquiring signals in the TOF module indicative of distance to the object, wherein acquiring signals in the TOF module comprises detecting radiation reflected by the object; using a first distance estimation algorithm to provide an output indicative of the distance to the object based on the acquired signals; using at least one second different distance estimation algorithm to provide an output indicative of the distance to the object based on the acquired signals; and combining the outputs of the first and at least one second algorithms to obtain an improved estimate of the distance to the object; characterized by : at least one of the distance estimation algorithms comprises detecting parallax shift of the radiation reflected by the object and comparing first and second histograms produced by two or more sets of single photon avalanche diodes; producing the first histogram corresponding to a first measurement of the detected light; and producing the second histogram corresponding to a second measurement of the detected light; performing the first measurement by a first set of single photon avalanche diodes; and performing the second measurement by a second set of single photon avalanche diodes, different from the first set. emitting radiation out of the module; acquiring signals in the TOF module indicative of distance to the object, wherein acquiring signals in the TOF module comprises detecting radiation reflected by the object; using a first distance estimation algorithm to provide an output indicative of the distance to the object based on the acquired signals; using at least one second different distance estimation algorithm to provide an output indicative of the distance to the object based on the acquired signals; and combining the outputs of the first and at least one second algorithms to obtain an improved estimate of the distance to the object; characterized by : at least one of the distance estimation algorithms comprises detecting parallax shift of the radiation reflected by the object and comparing first and second histograms produced by two or more sets of single photon avalanche diodes; producing the first histogram corresponding to a first measurement of the detected light; and producing the second histogram corresponding to a second measurement of the detected light; performing the first measurement by a first set of single photon avalanche diodes; and performing the second measurement by a second set of single photon avalanche diodes, different from the first set. at least one of the distance estimation algorithms comprises detecting parallax shift of the radiation reflected by the object and comparing first and second histograms produced by two or more sets of single photon avalanche diodes; producing the first histogram corresponding to a first measurement of the detected light; and producing the second histogram corresponding to a second measurement of the detected light; performing the first measurement by a first set of single photon avalanche diodes; and performing the second measurement by a second set of single photon avalanche diodes, different from the first set. <EOS>