A method and apparatus for generating a three-dimensional depth map, are provided. The method comprising the steps of: (i) illuminating a target by a pattern projector having background intensity or by a combination of a pattern projector which does not have a background intensity operative together with a flood projector; (ii) capturing at least one image that comprises one or more objects present at the illuminated target; (iii) converting the at least one captured image into data; (iv) processing the data received from the conversion of the at least one captured image while filtering out the projected pattern from the processed data; (v) detecting edges of at least one of the one or more objects present at the illuminated target; and (vi) generating a three-dimensional depth map that comprises the at least one of the one or more objects whose edges have been determined.