A method for depth sensing from an image of a projected pattern is performed at an electronic device with one or more processors and memory. The method includes receiving an image of a projection of an illumination pattern; for a portion of the image, selecting a candidate image of a plurality of candidate images by comparing the portion of the image with a plurality of candidate images; and determining a depth for the portion of the image based on depth information associated with the selected candidate image. Related electronic devices and computer readable storage medium are also disclosed.