An imaging system and method for generating a three-dimensional color image include an opening for allowing light from an object to enter the imaging system. Each sensor element in an array of sensor elements receives a portion of the light and generates a signal indicative of an intensity of the received portion of the light. Light from an optical element impinges on a filter comprising a plurality of filter regions, each filter region passes a predetermined band of wavelengths of the light and is associated with and disposed in alignment with one of the sensor elements such that light passing through each filter region impinges on the sensor associated and in alignment with the filter element. At least one of the filter regions is constructed to pass a visible color band, and at least one other of the filter regions is constructed to pass an infrared band.