1. A camera device, comprising: a memory configured to store information; a lens assembly arranged to direct light from a scene; a plurality of image sensing elements configured to receive light from the scene via the lens assembly; a plurality of infrared illuminators configured to transmit infrared light; and a processor, coupled to the plurality of image sensing elements and the plurality of infrared illuminators and configured to: operate the plurality of infrared illuminators and the image sensing element in a first mode whereby infrared light transmitted by the plurality of infrared illuminators and reflected from the scene is used to generate a two-dimensional image of the scene; and operate the plurality of infrared illuminators and the image sensing element in a second mode, including: sequentially activating a plurality of distinct subsets of the illuminators, each subset illuminating a different portion of the scene; for each subset of illuminators, measuring an intensity of reflected light from the scene for each image sensing element of the plurality of image sensing elements; for each image sensing element: generating a light intensity vector based on the measured intensities for the element, wherein the light intensity vector has a component corresponding to each subset of illuminators; and estimating a depth in the scene using the light intensity vector and a lookup table; and identifying a planar surface in the scene using the estimated depths.