Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.