A method comprising: determining a phase difference between a light signal transmitted by a time of flight camera system and a reflected light signal received by at least one pixel sensor of an array of pixel sensors in an image sensor of the time of flight camera system, wherein the reflected light signal received by the at least one pixel sensor is reflected from an object illuminated by the transmitted light signal; determining an amplitude of the reflected light signal received by the at least one pixel sensor; combining the amplitude and phase difference for the at least one pixel sensor into a combined signal parameter for the at least one pixel sensor; and de-noising the combined signal parameter for the at least one pixel sensor by filtering the combined parameter for the at least one pixel sensor, wherein the method is characterized in that the method further comprises at least one of: de-noising the phase difference for the at least one pixel sensor by filtering the phase difference for the at least one pixel sensor, wherein the de-noising of the phase difference occurs prior to combining the amplitude and phase difference; and de-noising the amplitude for the at least one pixel sensor by filtering the amplitude for the at least one pixel sensor, wherein the de-noising of the amplitude occurs prior to combining the amplitude and phase difference. determining a phase difference between a light signal transmitted by a time of flight camera system and a reflected light signal received by at least one pixel sensor of an array of pixel sensors in an image sensor of the time of flight camera system, wherein the reflected light signal received by the at least one pixel sensor is reflected from an object illuminated by the transmitted light signal; determining an amplitude of the reflected light signal received by the at least one pixel sensor; combining the amplitude and phase difference for the at least one pixel sensor into a combined signal parameter for the at least one pixel sensor; and de-noising the combined signal parameter for the at least one pixel sensor by filtering the combined parameter for the at least one pixel sensor, wherein the method is characterized in that the method further comprises at least one of: de-noising the phase difference for the at least one pixel sensor by filtering the phase difference for the at least one pixel sensor, wherein the de-noising of the phase difference occurs prior to combining the amplitude and phase difference; and de-noising the amplitude for the at least one pixel sensor by filtering the amplitude for the at least one pixel sensor, wherein the de-noising of the amplitude occurs prior to combining the amplitude and phase difference. de-noising the phase difference for the at least one pixel sensor by filtering the phase difference for the at least one pixel sensor, wherein the de-noising of the phase difference occurs prior to combining the amplitude and phase difference; and de-noising the amplitude for the at least one pixel sensor by filtering the amplitude for the at least one pixel sensor, wherein the de-noising of the amplitude occurs prior to combining the amplitude and phase difference.