A method comprising: projecting a structured light pattern into a volume , the structured light pattern comprising a predefined structure having a plurality of features, each feature comprising a predefined variation, wherein the predefined structure of the structured light pattern comprises striping extending in a dimension, wherein the predefined variation comprises a cycle of intensities in an additional dimension with each stripe of a group of stripes in the cycle being projected with a respective intensity, and wherein the predefined structure further comprises an intensity variation along each of the stripes so peak intensities of different stripes are in different locations relative to each other; detecting light reflected from one or more objects in the volume , the detected light including one or more of the features of the predefined structure of the structured light pattern; correlating the one or more features in the detected light with the predefined structure; and determining depth information for objects associated with each of the one or more features in the detected light based on the correlating, wherein determining the depth information for objects associated with each of the one or more features in the detected light based on the correlating comprises determining depth information for the objects based on the locations of peak intensities of different stripes. projecting a structured light pattern into a volume , the structured light pattern comprising a predefined structure having a plurality of features, each feature comprising a predefined variation, wherein the predefined structure of the structured light pattern comprises striping extending in a dimension, wherein the predefined variation comprises a cycle of intensities in an additional dimension with each stripe of a group of stripes in the cycle being projected with a respective intensity, and wherein the predefined structure further comprises an intensity variation along each of the stripes so peak intensities of different stripes are in different locations relative to each other; wherein the predefined structure of the structured light pattern comprises striping extending in a dimension, wherein the predefined variation comprises a cycle of intensities in an additional dimension with each stripe of a group of stripes in the cycle being projected with a respective intensity, and wherein the predefined structure further comprises an intensity variation along each of the stripes so peak intensities of different stripes are in different locations relative to each other; detecting light reflected from one or more objects in the volume , the detected light including one or more of the features of the predefined structure of the structured light pattern; correlating the one or more features in the detected light with the predefined structure; and determining depth information for objects associated with each of the one or more features in the detected light based on the correlating, wherein determining the depth information for objects associated with each of the one or more features in the detected light based on the correlating comprises determining depth information for the objects based on the locations of peak intensities of different stripes. <EOS>