A system for estimating distance to regions in a scene during image capture comprising a lens; a split color filter with complementary colors located at a stop associated with the lens and configured to split an image of a scene received from the lens into two complementary images having complementary colors; a color image sensor configured to simultaneously receive the two complementary images; and a data processing system configured to at least estimate distances to regions in the scene based at least upon an analysis of the received complementary images.