Abstract: Structured light technology is a typical method for capturing the three-dimensional point cloud data of realistic objects. Structured light images are projected on the surface of the object, which are modulated by the height of the object. Then, the modulated structured light is captured by the camera. Finally, the triangulation principle is used to calculate the three-dimensional surface shape data. To scan the high-precision three-dimensional point cloud of the object, this paper proposes a structured light technology based on Gray code and six-step phase shift method. The structured light based on Gray code is composed of 7 black and white fringe periodic images, and the image can be divided into 128 areas through the gray code decoding operation; the structured light based on six-step phase shift is composed of 6 cosine periodic images with phase difference. Phase shift decoding can subdivide each of the 128 areas into a single pixel. Compared with the cumbersome calculation of six Moiré fringes, the proposed structured light technology based on six-step phase-shift method has less calculation. In the simulation experiment and actual test, the proposed structured light technology showed excellent performance.