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A new imager for 3D near-infrared imaging has been designed based on a single-photon avalanche diode (SPAD) imager with 128x128 pixels capable of performing time-resolved measurements with a resolution of 97ps. The imager linearity has been improved to make more accurate measurements. A new optical setup has been imple- mented in order to prove the suitability of this kind of sensors for this application.