A method of forming a three-dimensional image

A method of forming a three-dimensional image, the method comprising:

• capturing a first image of a field of view by:
• illuminating the field of view with radiation;
• and
• determining an intensity of each of a plurality of pixels of reflected radiation from the field of view;
• subsequently capturing range information by:
• illuminating the field of view with radiation;
• and
• determining a time delay of reflected radiation from the field of view for each of a plurality of pixels;
• and
• forming the three-dimensional image;
• wherein the three-dimensional image is dependent on the first image,
• wherein capturing the range information is dependent on the first image and the three-dimensional image is formed from the captured range information,
• the method further comprising:
• analyzing the first image to determine the presence within the field of view of any objects that are larger than a threshold size;
• and
• wherein determining a time delay of reflected radiation from the field of view for each of the plurality of pixels is dependent upon whether or not an object that is larger than the threshold size is identified in the first image.