The present invention provides a method for inspecting an object placed in a turbid fluid, the method comprising the steps of: A) generating
electromagnetic radiation by a
radiation source; B) emitting the
electromagnetic radiation; C) modulating the amplitude or frequency of the
electromagnetic radiation; D) illuminating a surface of the object at a plurality of object points with the modulated electromagnetic
radiation, the illumination of the object surface occurring along an illumination beam axis; and E) focusing the electromagnetic
radiation reflected from the object points toward a light receiving portion of a
detector by an optical
system having a
focal length, the
detector having an aperture having an aperture shape in an
aperture plane, the
aperture plane being separated from the light receiving portion by a
detector distance and the
aperture plane being separated from the optical
system by an aperture distance, the focusing occurring along the detection beam axis. and F) detecting electromagnetic radiation reflected from the surface of the object with the
receiver; and for each of the plurality of object points, G) measuring an indication of a
propagation time of the electromagnetic radiation from a reference point in a beam path of the electromagnetic radiation to each
object point; and H) outputting the indication of the
propagation time, wherein the illumination beam axis and the detection beam axis form a
parallax angle, the aperture has an aperture position in a direction perpendicular to at least the illumination beam axis or the aperture beam axis, and the surface of the object is spaced a measurement distance from the
receiver.