A multi-modal sensor is disclosed that is able to detect and discriminate objects in the near-range range, mid-range and far-range. The sensor uses different sensing modalities that are adapted to cooperate and operate together depending upon the range of the object that is being detected. In an embodiment, infrared transmitters and infrared sensors are used, wherein the infrared transmitters transmit signals in the infrared range that frequency orthogonal with respect to each other.