A method for 3D imaging of an actively illuminated target region comprises emitting intensity-modulated light at a variable modulation frequency into the target region. The emitted light is scattered/reflected in the target region depending on the optical properties of the objects or beings present therein. A scattered and/or reflected fraction of the light is detected during an integration time interval by phase-sensitive integration in each pixel of an imaging sensor. The modulation phase between the emitted and the detected light is determined and spatially resolved. Distance information is calculated based on the spatially resolved modulation phase and an average frequency of the modulation frequency.