Abstract: In one aspect the invention provides a method of operating a time of flight camera which includes the steps of capturing a sequence of time of flight camera data frames using a set of step frequency modulation signals to provide a time of flight camera data set, then completing a spectral analysis of the dataset which identifies frequency and phase value pairs indicative of the range of the camera to an object represented in the data frames. Next an estimated camera range value to an object represented in the data frames is determined using the frequency value, then a corrected camera range value is determined using the estimated camera range value and the phase value. A camera output is then provided which identifies the corrected range values of at least one object represented in the data frames of the dataset.