1. An imaging system for imaging objects, the imaging system comprising an imaging lens arrangement, a light detector unit at a certain distance from the imaging lens arrangement, and a control unit connectable to the output of the detection unit; the imaging lens arrangement comprising an imaging lens and an optical element located in the vicinity of the lens aperture, said optical element introducing aperture coding by an array of regions differently affecting a phase of light incident thereon which are randomly distributed within the lens aperture, thereby generating an axially-dependent randomized phase distribution in the Optical Transfer Function (OTF) of the imaging system resulting in an extended depth of focus of the imaging system; said control unit being configured to decode the sampled output of the detection unit by using the random aperture coding to thereby extract 3D information of the objects in the field of view of the light detector unit.