Imaging devices, systems, and methods for determining a distance to an object using light projected from an illumination device are provided. An example method includes: projecting, from an illumination source of the illumination device, projected light having a first wavelength; receiving, at one or more sensors of the illumination device, reflected light having the first wavelength; receiving, at the one or more sensors of the illumination device, emitted light having a second wavelength; determining, by one or more processors, a phase difference between the reflected light and the emitted light; and determining, by the one or more processors, the distance to the object based at least on the phase difference between the reflected light and the emitted light.