Methods and systems are described that enable three-dimensional (3D) imaging of objects. One example system includes a light source that produces multiple light beams having specific spectral content and polarization states. The system also includes phase masks that modify the intensity or phase of the light, and projection optics that allow simultaneously projection of at least three fringe patterns onto an object having particular phase, polarization and spectral characteristics. The detection system includes a camera that simultaneously receives light associated with the at the fringe patterns upon reflection from the object, and a processing unit coupled to the camera unit that determines one or both of a phase or a depth information associated with the object. The system and associated methods can efficiency produce 2D images of the object and allow determination of characteristics such as surface profile. The disclosed systems and methods can be effectively implemented with moving objects.