System and method for depth estimation using multiple illumination sources

A system comprising:

• an illuminator capable of illuminating a scene from at least a first illumination position and a second illumination position;
• an image sensor to capture (i) a first image of the scene while the illuminator illuminates the scene from the first illumination position and (ii) a second image of the scene while the illuminator illuminates the scene from the second illumination position;
• and
• an image processor to receive the first and second images from the image sensor and estimate a depth of at least one feature that appears in the first and second images, the depth being estimated based on a relative intensity of the first image and the second image, a distance between the first illumination position and the second illumination position, and a position of the at least one feature within at least one of the first and second images, wherein the relative intensity of the first image and the second image is corrected based on an orientation of the at least one feature prior to the depth being estimated.