Position-determining device

A position-determining device configured to repeatedly determine a position of an object in a space with respect to the position-determining device, comprising:

• a 3D time-of-flight camera with a 2D arrangement of pixels configured to repeatedly record an image of the space, and
• a control unit which is connected to the camera and comprises an image-processing device for processing a recorded image, the 3D time-of-flight camera comprising a light source for emitting light which is controllable by the control unit, and is configured both to record a 2D image of the space and to collect distance information for one or more pixels by means of reflected emitted light,
• wherein the image-processing device is configured:
• to recognise a possible object in the 2D image on the basis of one or more image-processing criteria, wherein the possible object comprises a first set of the pixels of the image,
• to determine distance information for a subset of the first set of pixels which is smaller than the first set, and;
• to determine a position with respect to the camera by means of analysis of the 2D image and of the distance information of the subset of pixels.