Figure 1 shows a generic flash LiDAR system where the scene of interest is uniformly illuminated using an active light source, typically, a wide-angle pulsed laser beam whose coverage area on a target plane depends on the fields-of-view (FOV) of the beam. A uniform illumination can be achieved by using an optical diffuser which spreads the incoming laser energy equally onto the coverage area or by illuminating the scene with a predefined light pattern, for instance, visualized as a matrix of light points covering the target area, where the number of those points may be defined based on…