1. A system for reconstructing a scene, comprising: a light source configured to transmit an optical pulse unto the scene; a set of sensors configured to receive a reflected pulse to acquire sensed signals corresponding to the optical pulse; a fixed coded aperture in an optical path between the light source and set of sensors; and a processor, connected to the light source and the set of sensors, configured to perform a method to reconstruct the scene, from the sensed signals, as a three-dimensional (3D) depth map using a scene model.