This article compares Frequency Modulated Continuous Wave (FMCW) and Time of Flight (ToF) for LiDAR. In summary, FMCW is better in longer term but ToF is still better now.

What are FMCW and ToF?

Lidar can take on several different modalities, which can be classified by their dependence on incoherence or coherence of the laser source which is used. Each of these methods uses the optical path of the target reflector to effectively modulate the envelope intensity of the detected signal. Time-of-flight (pulsed) and amplitude-modulated continuous-wave…