A camera comprising: a sensor array including a plurality of sensors, wherein the plurality of sensors are differential sensors, wherein the differential sensors include a first region energized by non-modulated emitted illumination according to a first clock signal and a second region energized by ambient illumination according to a second clock signal, and wherein the differential sensors each comprise first and second polysilicon gates, wherein the first polysilicon gate is energized according to the first clock signal and the second polysilicon gate is energized according to the second clock signal; an infrared illuminator configured to emit IR light in an IR light sub-band; a plurality of spectral illuminators, each spectral illuminator configured to emit spectral light in a different spectral light sub-band; a depth controller machine configured to determine a depth value for each of the plurality of sensors based on the emitted IR light, a spectral controller machine configured to, for each of the plurality of sensors, determine a spectral value for each spectral light sub-band of the plurality of spectral illuminators; and an output machine configured to output a test depth+multi-spectral image including a plurality of pixels, each pixel corresponding to one of the plurality of sensors of the sensor array and including at least: a depth value, and a spectral value for each spectral light sub-band of the plurality of spectral illuminators; wherein the spectral value is determined for each differential sensor based on a depth value and a differential measurement of spectral light and ambient light from a respective differential sensor; an object recognition machine previously trained with a set of labeled training depth+multi-spectral images having a same structure as the test depth+multi-spectral image, the object recognition machine configured to output a confidence value indicating a likelihood that the test depth+multi-spectral image includes a specified object. a sensor array including a plurality of sensors, wherein the plurality of sensors are differential sensors, wherein the differential sensors include a first region energized by non-modulated emitted illumination according to a first clock signal and a second region energized by ambient illumination according to a second clock signal, and wherein the differential sensors each comprise first and second polysilicon gates, wherein the first polysilicon gate is energized according to the first clock signal and the second polysilicon gate is energized according to the second clock signal; an infrared illuminator configured to emit IR light in an IR light sub-band; a plurality of spectral illuminators, each spectral illuminator configured to emit spectral light in a different spectral light sub-band; a depth controller machine configured to determine a depth value for each of the plurality of sensors based on the emitted IR light, a spectral controller machine configured to, for each of the plurality of sensors, determine a spectral value for each spectral light sub-band of the plurality of spectral illuminators; and an output machine configured to output a test depth+multi-spectral image including a plurality of pixels, each pixel corresponding to one of the plurality of sensors of the sensor array and including at least: a depth value, and a spectral value for each spectral light sub-band of the plurality of spectral illuminators; wherein the spectral value is determined for each differential sensor based on a depth value and a differential measurement of spectral light and ambient light from a respective differential sensor; an object recognition machine previously trained with a set of labeled training depth+multi-spectral images having a same structure as the test depth+multi-spectral image, the object recognition machine configured to output a confidence value indicating a likelihood that the test depth+multi-spectral image includes a specified object.