Abstract: Sensing systems using projection blocks of structured light provide useful information about the surfaces they are projected onto. A camera captures an image which contains a captured block, that is, an image of the projection block interacting with the surface. Corrections may be applied to the captured image to compensate for distortions produced by projector and/or camera systems and produce a corrected image. Noise may be removed from the corrected image using a bilateral filter, producing a filtered image. The filtered image may be processed to determine a boundary of the captured block.