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OPT3101: Difficulty in getting accurate distance detection

Part Number: OPT3101

I’m currently evaluating the OPT3101EVM. When I move a cylindrical pipe away from the sensor, it reports that it is further away than it really is. I haven't plotted this to see if the offset is exponential or linear, but I had hoped to use this type of sensor in a collision avoidance system and if it is reporting obstacles as further away than they really are the pathing would not correctly navigate around them. Do you know if there is anything I can adjust or tweak to improve the accuracy of the response?