An optical time of flight system includes a transmitter and a receiver. The transmitter is configured to generate a modulation signal having a modulation signal frequency that varies as a function of time, generate an optical waveform with amplitude modulation corresponding to the modulation signal, and direct the optical waveform toward a field of view (FOV). The receiver is configured to receive the optical waveform reflected off of an object within the FOV and determine a distance to the object based on a time of flight from the transmitter to the object and back to the receiver.