1. An apparatus comprising: a light emitter configured to emit a structured light pattern modulated by a carrier signal, wherein an intensity of the modulated structured light pattern varies over time based on the carrier signal; a detector configured to capture a portion of the modulated structured light pattern, the detector comprising a plurality of pixel groups, each pixel group configured to capture light at different times than other pixel groups; and a processor configured to: determine a phase of the carrier signal based on intensities of light received by different pixel groups in the detector, determine a time for the portion of the modulated pattern of structured light to be reflected from one or more objects in the local area and captured by the detector based on the determined phase of the carrier signal, and determine distances from the detector to one or more objects in the local area from the determined times.