Method for optical distance measurement, wherein the method comprises creating at least one frame, wherein a frame is understood to be a single image, wherein 3D information of at least one sub-region of a measuring region is determined within the frame, characterized in that the method comprises dividing a time budget for creating the frame into a first phase for determining at least one region of interest and a second phase for determining 3D information from the at least one region of interest, wherein the method comprises performing the first phase, wherein, during the first phase, a plurality of measuring pulses are transmitted by means of a transmitting unit and reflected measuring pulses are received by a receiving unit , wherein, during the first phase, 2D information of the measuring region is determined , wherein the 2D information is to be understood as a 2D intensity image of the measuring region, wherein, during the first phase, no 3D information of the measuring region and therefore no transit times of the measuring pulses of the first phase are determined, wherein at least one region of interest is determined from the 2D information , wherein the region of interest is a sub-region of the measuring region, wherein the method comprises performing the second phase, wherein during the second phase, a plurality of measuring pulses are transmitted by means of a transmitting unit and reflected measuring pulses are received by the receiving unit , wherein, during the second phase, 3D information of the at least one region of interest is determined , and wherein the proportion of the time budget for the first phase is a maximum of 50% of the proportion of the second phase. wherein the method comprises creating at least one frame, wherein a frame is understood to be a single image, wherein 3D information of at least one sub-region of a measuring region is determined within the frame, characterized in that the method comprises dividing a time budget for creating the frame into a first phase for determining at least one region of interest and a second phase for determining 3D information from the at least one region of interest, wherein the method comprises performing the first phase, wherein, during the first phase, a plurality of measuring pulses are transmitted by means of a transmitting unit and reflected measuring pulses are received by a receiving unit , wherein, during the first phase, 2D information of the measuring region is determined , wherein the 2D information is to be understood as a 2D intensity image of the measuring region, wherein, during the first phase, no 3D information of the measuring region and therefore no transit times of the measuring pulses of the first phase are determined, wherein at least one region of interest is determined from the 2D information , wherein the region of interest is a sub-region of the measuring region, wherein the method comprises performing the second phase, wherein during the second phase, a plurality of measuring pulses are transmitted by means of a transmitting unit and reflected measuring pulses are received by the receiving unit , wherein, during the second phase, 3D information of the at least one region of interest is determined , and wherein the proportion of the time budget for the first phase is a maximum of 50% of the proportion of the second phase. <EOS>