Active or passive gated-sensor imaging system characterized by a minimized time period between successive sensor exposures. In the active imaging system, a light source emits light pulses toward a region of interest, and an image sensor receives reflections of the pulses reflected from objects located in a DOF to be imaged and converts the reflections into an image. Each frame of the image includes a plurality of gating cycles. Each gating cycle includes the emission of a respective light pulse and the reception of reflections of the respective pulse. A delay-time (TDELAY) is defined as the duration between the sensor exposure periods of successive gating cycles. A controller controls the operation of the light source and the image sensor, to minimize the delay-time for at least one gating cycle of an image frame, where the delay-time is adaptively determined in accordance with at least one system parameter or environmental condition.