Systems and method of high resolution three-dimensional imaging

A three-dimensional imaging system, comprising:

• an illumination subsystem having a light source configured to emit a light pulse that does not pass through any modulator in the illumination subsystem and has a divergence sufficient to irradiate a scene;
• a sensor subsystem comprising:
• a receiving lens having a predetermined image plane and a predetermined pupil plane, the receiving lens configured to receive a portion of the light pulse reflected or scattered by the scene, whereby outputting a received light pulse portion having a duration;
• a modulator, located along an optical axis of the sensor subsystem behind the receiving lens, configured to modulate as a function of time an intensity of the received light pulse portion to form a modulated received light pulse portion, wherein the modulator is not located in the image plane or pupil plane of the receiving lens;
• a first imaging sensor array, in optical communication with the modulator, configured to generate a first image based on the modulated received light pulse portion;
• and
• a second imaging sensor array, in optical communication with the modulator, configured to generate a second image based on the modulated received light pulse portion;
• and
• a processor subsystem configured to obtain a three-dimensional image based on the first and second images.