In exemplary implementations of this invention, a light source illuminates a scene and a light sensor captures data about light that scatters from the scene. The light source emits multiple modulation frequencies, either in a temporal sequence or as a superposition of modulation frequencies. Reference signals that differ in phase are applied to respective subregions of each respective pixel. The number of subregions per pixel, and the number of reference signals per pixel, is preferably greater than four. One or more processors calculate a full cross-correlation function for each respective pixel, by fitting light intensity measurements to a curve, the light intensity measurements being taken, respectively, by respective subregions of the respective pixel. The light sensor comprises M subregions. A lenslet is placed over each subregion, so that each subregion images the entire scene. At least one temporal sequence of frames is taken, one frame per subregion.