Abstract: An imaging device includes at least one sensor comprising a plurality of light sensitive regions, each region operable to capture a respective image of a scene to be imaged; a first imaging component and a second imaging component, wherein each of the first and the second imaging components are individually configured to capture images of the scene for extracting three-dimensional information of the scene, wherein the first imaging component has a first optical feature and the second imaging component has a second optical feature, wherein a difference between the first and the second optical feature is higher than a predetermined optical feature difference threshold.