A three-dimensional imaging system includes at least one light source, a circular or elliptical polarization beamsplitter, a detector arrangement and an image processor. The light source is configured to provide light in a first circular or elliptical polarization state onto an object to be imaged. The circular or elliptical polarization beamsplitter is arranged to spatially separate the light reflected from an object into a first reflected portion in the first polarization state and a second reflected portion in the second polarization state. The first and second circular or elliptical polarization states are orthogonal to one another. The detector arrangement detects at least the first reflected portion of the light and the image processor is configured to generate image information from the detected first reflected portion.