A method of generating a high dynamic range, HDR, image via a depth image sensor comprising an array of pixels, each pixel having a first charge collection point and a second charge collection point, the first charge collection point and the second charge collection point being independently controllable to integrate current during an integration period, the method comprising: during a first integration period, controlling the first charge collection point for a first exposure time; during the first integration period, controlling the second charge collection point for a second exposure time, the second exposure time being shorter than the first exposure time; and for each pixel of the plurality of pixels, comparing a charge collected at the first charge collection point and a charge collected at the second charge collection point to a threshold, and selecting one of the charge collected at the first charge collection point and the charge collected at the second charge collection point for inclusion in the HDR image based upon the comparing; and during a second integration period, controlling the first charge collection point to integrate charge for a third exposure time of 50% of the second integration period; during the second integration period, controlling the second charge collection point to integrate charge for a fourth exposure time of 50% of the second integration period; and for each pixel of the plurality of pixels, computing a depth value for the pixel based on the charge integrated during the third exposure time and the charge integrated during the fourth exposure time to generate a depth image. during a first integration period, controlling the first charge collection point for a first exposure time; during the first integration period, controlling the second charge collection point for a second exposure time, the second exposure time being shorter than the first exposure time; and for each pixel of the plurality of pixels, comparing a charge collected at the first charge collection point and a charge collected at the second charge collection point to a threshold, and selecting one of the charge collected at the first charge collection point and the charge collected at the second charge collection point for inclusion in the HDR image based upon the comparing; and comparing a charge collected at the first charge collection point and a charge collected at the second charge collection point to a threshold, and selecting one of the charge collected at the first charge collection point and the charge collected at the second charge collection point for inclusion in the HDR image based upon the comparing; and during a second integration period, controlling the first charge collection point to integrate charge for a third exposure time of 50% of the second integration period; during the second integration period, controlling the second charge collection point to integrate charge for a fourth exposure time of 50% of the second integration period; and for each pixel of the plurality of pixels, computing a depth value for the pixel based on the charge integrated during the third exposure time and the charge integrated during the fourth exposure time to generate a depth image.