An imaging system is disclosed. The system comprises: a first imaging device and a second imaging device being spaced apart and configured to provide partially overlapping field-of-views of a scene over a spectral range from infrared to visible light. The system comprises at least one infrared light source constituted for illuminating at least the overlap with patterned infrared light, and a computer system configured for receiving image data pertaining to infrared and visible light acquired by the imaging devices, and computing three-dimensional information of the scene based on the image data. The image data optionally and preferably comprises the patterned infrared light as acquired by both the imaging devices.