Structured light active depth sensing systems combining multiple images to compensate for differences in reflectivity and/or absorption

A receiver sensor captures a plurality of images, at two or more (different) exposure times, of a scene onto which a code mask is projected. The two or more of the plurality of images are combined by extracting decodable portions of the code mask from each image to generate a combined image. Alternatively, two receiver sensors, each at a different exposure time, are used to capture a plurality of images. The first and second images are then combined by extracting decodable portions of the code mask from each image to generate a combined image. Depth information for the scene may then be ascertained based on the combined image and using the code mask.