1. A method of determining 3D surface position information from an object using structured lighting, the method comprises: providing a series of successive structured lighting patterns, each successive structured lighting pattern in the series comprising a first subset and a second subset of intensity features, each intensity feature of the first subset coinciding spatially with a respective one of the intensity features from either the first subset or the second subset from a preceding one of the successive structured lighting pattern in the series; illuminating the object with different ones of the successive structured lighting patterns of said series each at least at a different time point; capturing 2D images of the object, each when the object is illuminated with a respective one of the successive structured lighting patterns; detecting image positions within the 2D images where the intensity features of the first and second subset of the successive structured lighting patterns are visible in the 2D images; for each particular one of the successive structured lighting patterns in the series: storing labels of the intensity features of the first subset of the particular one of the successive structured lighting patterns in combination with image positions within the 2D image captured using the particular one of the successive structured lighting patterns where the intensity features of the first subset are visible based on previously stored intensity feature label and image position combinations previously determined using a preceding one of the successive structured lighting patterns in said series and the 2D image captured using the preceding one of the successive structured lighting patterns in said series, and associating intensity features of the second subset with image positions where the intensity features of the second subset are visible, in respective position ranges between pairs of the image positions associated with mutually adjacent intensity features of the first subset, the association being based on the associations of the mutually adjacent intensity features; using the associations between intensity features and image positions in a final one of the successive structured lighting patterns of the series to identify the intensity features of the final one of the successive structured lighting patterns for the determination of 3D surface position information.