Aiming at the jumping error of phase unwrapping in gray code phase-shifting fringe projection 3D measurement,an adaptive compensation method for continuous phase is proposed.Based on the binocular structured light 3D measurement system,the continuous phase map of the object to be measured is obtained through the phase-shifting method in combination with the positive and negative gray code method.Then,the wrong pixels are searched for on the continuous phase map.Finally,the improved adaptive median filter method is used to compensate for the jumping error pixels in phase unwrapping and the invalid pixels generated by noise and shadow.The experimental results show that in comparison with the traditional gray-code phase-shifting method and the method of applying fixed-value median filter to continuous phase map,the proposed method can compensate for most of wrong pixels on the continuous phase map while retaining the details of the object to be measured as much as possible,which improves the stability and accuracy of 3D topography measurement.