Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes receiving valid and invalid codewords, the valid spatial codewords included in a codebook. The method includes detecting the invalid codeword. The method includes retrieving a set of candidate valid codewords a lowest Hamming distance between the invalid codeword and the valid codewords in the codebook. The method includes estimating a median depth of neighboring locations of the invalid codeword. The method includes associating a depth with each candidate codeword and selecting the candidate with an associated depth closest to the depth estimate. The method includes assigning the depth associated with the selected candidate codeword to the location of the invalid codeword.