A three dimensional sensing system, comprising: a structured light projector comprising a light source configured to project a pseudo random dot pattern onto an object, the pseudo random dot pattern comprising a plurality of dots distributed on a grid having a grid pitch, the plurality of dots arranged according to a staggered grid format relative to a first axis of the grid and further arranged according to a sequence relative to a second axis of the grid, the sequence comprising some dots aligning with the grid pitch and some dots exhibiting a position shift relative to the grid pitch along the second axis, such that neighboring dots within a certain sub-window size comprise a unique sub-pattern of dots, wherein a column index for possible combinations of the unique sub-pattern of dots is achieved by executing a De Bruijn sequence, followed by an encoding sequence, wherein the neighboring dots in the staggered grid format are located in one of at least three possible positions on a vertical axis of the grid, and wherein the at least three possible positions are within 15% of a grid pitch of the grid in order to maintain row index determination; an image sensor configured to capture an image of the pseudo random dot pattern as projected onto the object; and a processor, the processor configured to: identify a location of the dots on the grid in the captured image with subpixel accuracy based on a difference of Gaussian algorithm plus bicubic interpolation; determine the column index and the row index corresponding to respective dots in the captured image based on said projected pseudo random dot pattern; and determine one or more dimensions and/or a shape of the object based at least in part on the location of the dots in the captured image and the corresponding column index and row index. a structured light projector comprising a light source configured to project a pseudo random dot pattern onto an object, the pseudo random dot pattern comprising a plurality of dots distributed on a grid having a grid pitch, the plurality of dots arranged according to a staggered grid format relative to a first axis of the grid and further arranged according to a sequence relative to a second axis of the grid, the sequence comprising some dots aligning with the grid pitch and some dots exhibiting a position shift relative to the grid pitch along the second axis, such that neighboring dots within a certain sub-window size comprise a unique sub-pattern of dots, wherein a column index for possible combinations of the unique sub-pattern of dots is achieved by executing a De Bruijn sequence, followed by an encoding sequence, wherein the neighboring dots in the staggered grid format are located in one of at least three possible positions on a vertical axis of the grid, and wherein the at least three possible positions are within 15% of a grid pitch of the grid in order to maintain row index determination; an image sensor configured to capture an image of the pseudo random dot pattern as projected onto the object; and a processor, the processor configured to: identify a location of the dots on the grid in the captured image with subpixel accuracy based on a difference of Gaussian algorithm plus bicubic interpolation; determine the column index and the row index corresponding to respective dots in the captured image based on said projected pseudo random dot pattern; and determine one or more dimensions and/or a shape of the object based at least in part on the location of the dots in the captured image and the corresponding column index and row index. identify a location of the dots on the grid in the captured image with subpixel accuracy based on a difference of Gaussian algorithm plus bicubic interpolation; determine the column index and the row index corresponding to respective dots in the captured image based on said projected pseudo random dot pattern; and determine one or more dimensions and/or a shape of the object based at least in part on the location of the dots in the captured image and the corresponding column index and row index.