An imaging apparatus, comprising: a camera for capturing an image of a target object; a time-of-flight system , the time-of-flight system comprising: means for emitting a light signal; and means for sensing a reflection of the emitted light signal off the target object; means for determining a return energy based on the reflection of the emitted light signal; means for measuring a time between when the light signal is emitted and when the emitted light signal is sensed; means for determining a distance between the target object and the time-of-flight system based on the measured time; means for identifying a reflectance of the target object based on the return energy of the emitted light signal; an auto-exposure control module for: determining a first exposure level based on the distance to the target object and the reflectance of the target object; controlling a flash to emit a pre-flash, wherein the camera captures a first image of the target object when illuminated by the pre-flash at an exposure based on the first exposure level; for determining a second exposure level based on the first image; and for controlling the flash to emit a main flash; and, means for controlling the camera to capture a second image of the target object whilst the target object is illuminated by the main flash at an exposure based on the second exposure level. a camera for capturing an image of a target object; a time-of-flight system , the time-of-flight system comprising: means for emitting a light signal; and means for sensing a reflection of the emitted light signal off the target object; means for emitting a light signal; and means for sensing a reflection of the emitted light signal off the target object; means for determining a return energy based on the reflection of the emitted light signal; means for measuring a time between when the light signal is emitted and when the emitted light signal is sensed; means for determining a distance between the target object and the time-of-flight system based on the measured time; means for identifying a reflectance of the target object based on the return energy of the emitted light signal; an auto-exposure control module for: determining a first exposure level based on the distance to the target object and the reflectance of the target object; controlling a flash to emit a pre-flash, wherein the camera captures a first image of the target object when illuminated by the pre-flash at an exposure based on the first exposure level; for determining a second exposure level based on the first image; and for controlling the flash to emit a main flash; and, means for controlling the camera to capture a second image of the target object whilst the target object is illuminated by the main flash at an exposure based on the second exposure level. determining a first exposure level based on the distance to the target object and the reflectance of the target object; controlling a flash to emit a pre-flash, wherein the camera captures a first image of the target object when illuminated by the pre-flash at an exposure based on the first exposure level; for determining a second exposure level based on the first image; and for controlling the flash to emit a main flash; and, means for controlling the camera to capture a second image of the target object whilst the target object is illuminated by the main flash at an exposure based on the second exposure level. <EOS>