An imaging system includes first and second imaging arrays separated by a fixed distance, first and second drivers, and a modulated light source. The first imaging array includes a plurality of phase-responsive pixels distributed among a plurality of intensity-responsive pixels; the modulated light source is configured to emit modulated light in a field of view of the first imaging array. The first driver is configured to modulate the light output from the modulated light source and synchronously control charge collection from the phase-responsive pixels. The second driver is configured to recognize positional disparity between the intensity-responsive pixels of the first imaging array and corresponding intensity-responsive pixels of the second imaging array.