A range sensor and a method thereof. The range sensor includes a light source configured to project a sheet of light at an angle within a field of view (FOV); an image sensor offset from the light source; collection optics; and a controller connected to the light source, the image sensor, and the collection optics, and configured to determine a range of a distant object based on direct time-of-flight and determine a range of a near object based on triangulation. The method includes projecting, by a light source, a sheet of light at an angle within an FOV; offsetting an image sensor from the light source; collecting, by collection optics, the sheet of light reflected off objects; and determining, by a controller connected to the light source, the image sensor, and the collection optics, a range of a distant object based on direct time-of-flight and a range of a near object based on triangulation simultaneously.