Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.