RGB-D imaging system having an ultrasonic array fin generating images that include depth data, and methods fin manufacturing and using same. The RGB-D imaging system includes an ultrasonic sensor array positioned on a housing that includes an ultrasonic emitter and a plurality of ultrasonic sensors. The RGB-D imaging system also includes an RGB camera assembly positioned on the housing in a parallel plane with, and operably connected to, the ultrasonic sensor. The RGB-D imaging system thereby provides/enables improved imaging in a wide variety of lighting conditions compared to conventional systems.