A novel structured light method for color 3D surface profilometry is proposed. The proposed method may be used for reconstruction of both static and moving objects and does not require accurate color calibration of a camera–projector pair. The method is based on a structured light pattern that is a combination of a De Bruijn color sequence and of a sinusoidal fringe pattern. For static scenes phase-shifting and the De Bruijn window property are combined to obtain a high accuracy reconstruction. For dynamic scenes the Hessian ridge detector is applied to find stripes whose colors are decoded using a Gaussian mixture model. The De Bruijn window property and dynamic programming then uniquely identify projected stripes yielding a spatially sparser reconstruction. We have tested the proposed method on multiple objects with challenging surfaces and different albedos that clearly demonstrate both usability and robustness.