In a paper titled "A LiDAR Camera with an Edge" in IOP Measurement Science and Technology journal, Oguh et al. describe an interesting approach of turning a conventional global shutter CMOS image sensor into a LiDAR. The key idea is neatly explained by these two sentences in the paper: "... we recognize a simple fact: if the shutter opens before the arrival time of the photons, the camera will see them. Otherwise, the camera will not. Thus, if the shutter jitter range remains the same and its distribution is uniform, the average intensity of the object in many camera frames will be uniquely associated with the arrival time of the photons."
Abstract: A novel light detection and ranging (LiDAR) design was proposed and demonstrated using just a conventional global shutter complementary metal-oxide-semiconductor (CMOS) camera. Utilizing the jittering rising edge of the camera shutter, the distance of an object can be obtained by averaging hundreds of camera frames. The intensity (brightness) of an object in the image is linearly proportional to the distance from the camera. The achieved time precision is about one nanosecond while the range can reach beyond 50 m using a modest setup. The new design offers a simple yet powerful alternative to existing LiDAR techniques."
Full paper (paywalled): https://iopscience.iop.org/article/10.1088/1361-6501/adcb5c
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