A method for performing active distance measurements, the method may include receiving or generating an identification of at least one target object recognized in an image; emitting, by a transmission module, one or more light pulses towards the at least one target object; directing, by an optical multiplexer of a reception module, towards at least one detector, at least one reflected light pulse that is reflected from the at least one target object; detecting, by at least one detector of the reception module, the at least one reflected light pulse; dynamically coupling, by an electrical multiplexer, the at least one detector to at least one distance measurement unit; calculating, by the one or more distance measurement units, a distance to each one of the at least one target object based on the at least one emitted light pulse and the at least one reflected light pulse.