A method and system for real-time motion artifact handling and noise removal for time-of-flight (ToF) sensor images. The method includes: calculating values of a cross correlation function c(τ) at a plurality of temporally spaced positions or phases from sent (s(t)) and received (r(t)) signals, thereby deriving a plurality of respective cross correlation values [c(τ₀), c(τ₁), c(τ₂), c(τ₃)]; deriving, from the plurality of cross correlation values [c(τ₀), c(τ₁), c(τ₂), c(τ₃)], a depth map D having values representing, for each pixel, distance to a portion of an object upon which the sent signals (s(t)) are incident; deriving, from the plurality of cross correlation values [c(τ₀), c(τ₂), c(τ₃)], a guidance image (I; I′); and generating an output image D′ based on the depth map D and the guidance image (I; I′), the output image D′ comprising an edge-preserving and smoothed version of depth map D, the edge-preserving being from guidance image (I; I′).

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