Obtaining depth information using an IR sensor with a beam splitter including illuminating a subject with IR light using an IR light source; receiving reflected light including visible light and the IR light at a beam splitter; splitting the reflected light into two identical beams, a first beam and a second beam, using the beam splitter; receiving and processing the first beam at an IR sensor to pass the IR light and to block the visible light, to generate an IR image; receiving and processing the second beam at a visible light sensor to pass the visible light and to block the IR light, to generate a visible light image; and using a time of flight of the IR light transmitted by the IR light source and received by the IR sensor to calculate a distance of the subject from the beam splitter.