An indicia reading terminal comprising: a three dimensional depth sensor configured to capture a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances (d1, d2), and the one or more surface distances comprising a distance between the three dimensional depth sensor and each plane (11a, 11b) present within the field of view that has an area greater than a predetermined threshold; a two dimensional image sensor configured to receive incident light and capture an image therefrom; a processor communicatively coupled to the two dimensional image sensor and the three dimensional depth sensor; characterised by an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor; wherein the processor is further communicatively coupled to the autofocusing lens assembly; wherein the processor is configured to predict an optimal focal distance for each plane based at least in part on the respective surface distance corresponding to such plane; wherein the autofocusing lens assembly is configured to progressively adjust to one or more of the predicted optimal focal distances based at least in part on the respective predicted optimal focal distances; wherein the two dimensional image sensor is configured to capture an image when the autofocusing lens assembly is focused upon one of the predicted optimal focal distances; and wherein the processor is configured to analyze the captured image to determine if a decodable indicia is present. a three dimensional depth sensor configured to capture a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances (d1, d2), and the one or more surface distances comprising a distance between the three dimensional depth sensor and each plane (11a, 11b) present within the field of view that has an area greater than a predetermined threshold; a two dimensional image sensor configured to receive incident light and capture an image therefrom; a processor communicatively coupled to the two dimensional image sensor and the three dimensional depth sensor; characterised by an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor; wherein the processor is further communicatively coupled to the autofocusing lens assembly; wherein the processor is configured to predict an optimal focal distance for each plane based at least in part on the respective surface distance corresponding to such plane; wherein the autofocusing lens assembly is configured to progressively adjust to one or more of the predicted optimal focal distances based at least in part on the respective predicted optimal focal distances; wherein the two dimensional image sensor is configured to capture an image when the autofocusing lens assembly is focused upon one of the predicted optimal focal distances; and wherein the processor is configured to analyze the captured image to determine if a decodable indicia is present.