In this paper we present a new color structured light technique based on a disordered codeword strategy. The aim of this method is to recover 3D information in moving scenes in such a way that the correspondence problem is easily and robustly solved.With this goal in mind a six-connectivity topology has been introduced in our pattern and color features have been inserted on it. Repetition and disorder are allowed in the codeword which implies that the Hamming distance between contiguous codewords increases. As a consequence of that, code loss circumstances can be efficiently handled. Additionally, computational cost in the code recovering phase is highly reduced since codewords are defined as sets.A structured light projection system has been built in our lab and a wide test under real moving conditions has been carried out. This experimentation has been performed on medium resolution and for slow movements specifications giving promising results.