A method is for estimating a distance to an object. The method may include determining, by a ranging device, a first range value based upon a time of flight of first optical pulses having a period of a first duration, and determining, by the ranging device, a second range value based upon a time of flight of second optical pulses having a period of a second duration different from the first duration. The method may include estimating the distance based upon the first and second range values.