A depth-sensitive imager for imaging a scene in three dimensions. The depth-sensitive imager comprises a light source configured to project a polarized illumination onto a surface of the scene, and a detector configured to capture an image of the scene by detecting light from the scene, in which image a polarization state of the light is encoded. The detected light includes a portion of the polarized illumination reflected from the surface. The depth-sensitive imager further comprises an analyzer configured to generate output responsive to a distance between the light source and the surface based on the image.