<p>The article describes the development of data processing methods, specifically a&#xa0;method for processing binary Gray code images. The results of processing binary Gray code images are used to resolve phase ambiguity in the phase triangulation method, which is a&#xa0;variation of the triangulation method using structured light. An image processing algorithm was developed to decode binary code generated by an optical source. The code takes the form of the dependence between the intensity distribution of the surface image of the analyzed object and the frame number. The proposed algorithm provides stable binarization of Gray code images under the conditions of a&#xa0;limited dynamic range of the photodetector and arbitrary light-scattering surface properties of the analyzed object without the use of inverse projected images. The developed algorithm can be successfully applied in triangulation systems using structured light to measure the three-dimensional geometry of complex-shaped objects. It is shown that for all possible ratios between the recorded radiation intensity and the dynamic range of the photodetector, this algorithm can be used to correctly decode Gray code (in the form of structured-light images). In this case, deviations in the results of Gray code decoding can be attributed only to noise in the images and do not distort measurement results. The main advantage of the proposed algorithm consists in its ability to use almost half the number of structured light images to decode the Gray code as compared to the algorithm using inverse code images.</p>