1. A method for mapping an object, comprising: illuminating the object with at least first and second beams of radiation having different beam divergence characteristics, wherein an intensity of the first beam as a function of distance from an imaging device drops at a different rate from the second beam; capturing, using the imaging device, at least one image of the object under illumination with each of the at least first and second beams; processing the at least one image to detect local differences in an intensity of the illumination cast on the object by the at least first and second beams; and analyzing the local differences in order to generate a three-dimensional (3D) map of the object.