A new three-dimensional (3D) imaging method that combines both fringe projection and pseudorandom pattern projection technique is presented. In proposed approach, we only need to project four equal-step phase-shift images and a pseudorandom pattern image. Combined with the epipolar constraint and image correlation, the congruent relationship of the wrapped phase between left and right cameras is obtained. In each corresponding folding phase, the phase values as coding can implement the binocular matching, so 3D reconstruction can be realized without phase unwrapping. The experimental results show that the proposed method can reduce the time of image sequence acquisition, comparing with conventional fringe projection technique. In addition, the compactness, robustness and accuracy of 3D image have not been affected.