A structured light imaging system comprising: an illumination source configured to generate a plurality of light pulses including first and second light pulses, wherein the first light pulse projects a first pattern of light onto a scene and wherein the second light pulse projects a second pattern of light onto the scene; and an image sensor comprising an array of pixels, each pixel comprising: a photodiode (310; 402; 422) that converts the light reflected from the scene to a charge, a first storage element (312; 406; 426), a first switch (404; 424) coupled between the photodiode and the first storage element, a second storage element (314; 410; 426), a second switch (408; 424) coupled between the photodiode and the second storage element, the image sensor further comprising a controller coupled to the first and second switches, the controller configured to synchronize the image sensor to the illumination source, wherein, for each pixel, during an exposure period, the controller is configured to actuate the first switch to couple the first storage element to the photodiode to store charge converted during the first light pulse, and actuate the second switch to couple the second storage element to the photodiode to store charge converted between the first and second light pulses, each pixel further comprising: third and fourth storage elements, and third and fourth switches, wherein the third switch is coupled between the photodiode and the third storage element, wherein the fourth switch is coupled between the photodiode and the fourth storage element, wherein the controller is further coupled to the third and fourth switches, wherein the plurality of light pulses includes a third light pulse that projects a third pattern of light onto the scene, and wherein the controller is further configured to actuate the third switch to couple the third storage element to the photodiode to store charge converted during the second light pulse, actuate the fourth switch to couple the fourth storage element to the photodiode to store charge converted during the third light pulse, subtract the charge stored in the second storage element from the charge stored in the first storage element, subtract the charge stored in the second storage element from the charge stored in the third storage element, and subtract the charge stored in the second storage element from the charge stored in the fourth storage element. a photodiode (310; 402; 422) that converts the light reflected from the scene to a charge, a first storage element (312; 406; 426), a first switch (404; 424) coupled between the photodiode and the first storage element, a second storage element (314; 410; 426), a second switch (408; 424) coupled between the photodiode and the second storage element, the image sensor further comprising a controller coupled to the first and second switches, the controller configured to synchronize the image sensor to the illumination source, wherein, for each pixel, during an exposure period, the controller is configured to actuate the first switch to couple the first storage element to the photodiode to store charge converted during the first light pulse, and actuate the second switch to couple the second storage element to the photodiode to store charge converted between the first and second light pulses, each pixel further comprising: third and fourth storage elements, and third and fourth switches, wherein the third switch is coupled between the photodiode and the third storage element, wherein the fourth switch is coupled between the photodiode and the fourth storage element, wherein the controller is further coupled to the third and fourth switches, wherein the plurality of light pulses includes a third light pulse that projects a third pattern of light onto the scene, and wherein the controller is further configured to actuate the third switch to couple the third storage element to the photodiode to store charge converted during the second light pulse, actuate the fourth switch to couple the fourth storage element to the photodiode to store charge converted during the third light pulse, subtract the charge stored in the second storage element from the charge stored in the first storage element, subtract the charge stored in the second storage element from the charge stored in the third storage element, and subtract the charge stored in the second storage element from the charge stored in the fourth storage element.