A system, apparatus and method of performing 3-D object profile inter-planar estimation and/or range inter-planar estimation of objects within a scene, including: providing a predefined finite set of distinct types of features, resulting in feature types, each feature type being distinguishable according to a unique bi-dimensional formation; providing a coded light pattern having multiple appearances of the feature types; projecting the coded light pattern, having axially varying intensity, on objects within a scene, the scene having at least two planes, resulting in a first plane and a second plane; capturing a 2-D image of the objects having the projected coded light pattern projected thereupon, resulting in a captured 2-D image, the captured 2-D image including reflected feature types; determining intensity values of the 2-D captured image; and performing 3-D object profile inter-planar estimation and/or range inter-planar estimation of objects within the scene based on determined intensity values.