A depth measurement assembly, DMA, comprising: an illumination source , wherein the illumination source is configured to project pulses of structured light at a first temporal pulsing frequency at a first time, and at a second temporal pulsing frequency at a second time subsequent to the first time, into a local area ; wherein the pulses of structured light include at least one structured light pulse that has a spatial pattern; a sensor configured to: sense the pulses of structured light reflected from the local area , the pulses of structured light sensed by the sensor including the structured light pulse; and determine, based at least in part on the pulses of structured light sensed by the sensor , one or more time of flight, TOF, measurements for the pulses of structured light; and a controller coupled to the sensor and configured to: determine a first set of estimated radial distances to an object in the local area based on the one or more TOF measurements; determine a second estimated radial distance to the object via one or more triangulation calculations applied to the sensed structured light pulse; and select an estimated radial distance from the first set of radial distances, based in part on the second estimated radial distance. an illumination source , wherein the illumination source is configured to project pulses of structured light at a first temporal pulsing frequency at a first time, and at a second temporal pulsing frequency at a second time subsequent to the first time, into a local area ; wherein the pulses of structured light include at least one structured light pulse that has a spatial pattern; a sensor configured to: sense the pulses of structured light reflected from the local area , the pulses of structured light sensed by the sensor including the structured light pulse; and determine, based at least in part on the pulses of structured light sensed by the sensor , one or more time of flight, TOF, measurements for the pulses of structured light; and a controller coupled to the sensor and configured to: determine a first set of estimated radial distances to an object in the local area based on the one or more TOF measurements; determine a second estimated radial distance to the object via one or more triangulation calculations applied to the sensed structured light pulse; and select an estimated radial distance from the first set of radial distances, based in part on the second estimated radial distance. sense the pulses of structured light reflected from the local area , the pulses of structured light sensed by the sensor including the structured light pulse; and determine, based at least in part on the pulses of structured light sensed by the sensor , one or more time of flight, TOF, measurements for the pulses of structured light; and a controller coupled to the sensor and configured to: determine a first set of estimated radial distances to an object in the local area based on the one or more TOF measurements; determine a second estimated radial distance to the object via one or more triangulation calculations applied to the sensed structured light pulse; and select an estimated radial distance from the first set of radial distances, based in part on the second estimated radial distance. determine a first set of estimated radial distances to an object in the local area based on the one or more TOF measurements; determine a second estimated radial distance to the object via one or more triangulation calculations applied to the sensed structured light pulse; and select an estimated radial distance from the first set of radial distances, based in part on the second estimated radial distance. <EOS>