Abstract: This paper introduces a kind of embossed imaging technology based on phase-shifted structured light illumination. The principle and imaging characteristics of imaging technology are studied experimentally, and color embossed imaging is realized by phase-shifted illumination method. In our experiments, multi-steps phase-shifting sinusoidal patterns are projected obliquely onto the object to be photographed, and digital camera sequentially captures illuminated object, and then reconstructs desired image by calculated method using multiple captured images. Theoretical analysis and experimental results show that phase shift structured light illumination imaging technique can effectively eliminate influence of environment uneven illumination. The obtained reflectance distribution image is only related to structural light illumination, which highlights shadows formed by oblique projection illumination. Change of light and shade reflects normal variation of object surface, and thus apparent embossing effect is formed visually.