A method for corrected depth measurement with a time-of-flight camera using amplitude-modulated continuous light. In order to enable an accurate and efficient depth measurement with a time-of-flight camera, the method includes, for each of a plurality of pixels of a sensor array of the camera: acquiring with the camera a raw depth value rm for the pixel; and automatically calculating a ground truth value rt according to: rt=g(rm−cm)+ct, to correct a systematic depth error of the raw depth value rm, wherein cm is a pixel-dependent first offset, g is a pixel-independent first function and ct is a pixel-independent second offset.