A three-dimensional imaging system that images features in an active space and determines distances to the features, the imaging system comprising: a light source that illuminates the active space with at least one light pulse; first and second time-of-flight cameras (30, 40) comprising first and second photosensors (32, 42) respectively having optical centers and pixels on which the cameras image light reflected from the at least one light pulse to acquire distance images of the features, wherein the first and second time-of-flight cameras have wide-angle and narrow-angle fields of view respectively, which overlap to provide the active space; a plurality of range bounds (NR L, NR U, FR L, FR U) that divide the active space into zones; and a controller that processes the distance images responsive to the zones to determine distances to the features, wherein the range bounds comprise a near range lower bound, NR L, a near range upper bound NR U, a far range lower bound FR L, and a far range upper bound, FR U, wherein the range bounds satisfy a relationship NR L < FR L < NR U < FR U and divide the active space into near, intermediate, and far zones, for which distances to features in the active space lie between NR L and FR L, between FR L and NR U, and between NR U and FR U, respectively, wherein to provide a range image comprising distances to features in the active space, the controller: designates one of the time-of-flight cameras (30, 40) a prime camera and the other a secondary camera; determines for each of a plurality of pixels in the prime camera a trial distance for a feature in the active space that is imaged on the pixel; determines the distance to the feature to be the trial distance if the prime camera is the first camera and the determined distance is in the near zone or the prime camera is the second camera and the trial distance is in the far zone; determines the distance responsive to the trial distance and a distance provided by a pixel in the secondary camera if the prime camera is the first camera and the determined distance is not in the near zone or the prime camera is the second camera and the trial distance is not in the far zone; and uses the distances determined for the pixels in the prime camera for the distances in the range image. a light source that illuminates the active space with at least one light pulse; first and second time-of-flight cameras (30, 40) comprising first and second photosensors (32, 42) respectively having optical centers and pixels on which the cameras image light reflected from the at least one light pulse to acquire distance images of the features, wherein the first and second time-of-flight cameras have wide-angle and narrow-angle fields of view respectively, which overlap to provide the active space; a plurality of range bounds (NR L, NR U, FR L, FR U) that divide the active space into zones; and a controller that processes the distance images responsive to the zones to determine distances to the features, designates one of the time-of-flight cameras (30, 40) a prime camera and the other a secondary camera; determines for each of a plurality of pixels in the prime camera a trial distance for a feature in the active space that is imaged on the pixel; determines the distance to the feature to be the trial distance if the prime camera is the first camera and the determined distance is in the near zone or the prime camera is the second camera and the trial distance is in the far zone; determines the distance responsive to the trial distance and a distance provided by a pixel in the secondary camera if the prime camera is the first camera and the determined distance is not in the near zone or the prime camera is the second camera and the trial distance is not in the far zone; and uses the distances determined for the pixels in the prime camera for the distances in the range image.