We present a new dense depth acquisition method using 2-D De Bruijn structured light, which is robust to various textures and is able to reconstruct dense depth maps of moving and deforming objects. A 2-D binary De Bruijn pattern is emitted to the target object by an off-the-shelf projector. Fast dynamic programming based stereo matching is performed on images taken from two different views. The depth is obtained by robust least square triangulation. The advantages include that we do not need to take image sequences with different illumination patterns and do not assume that the surface for reconstruction has uniform texture. Experimental results show that shapes can be efficiently obtained in good quality by the proposed approach. We believe that our approach is a good choice in applications of acquiring depth maps for moving scenes with inexpensive equipments.