This paper presents a robust 3D data acquisition method that uses a sequential color-coded pattern and a stereo camera system. In this system, one projector projects a pattern on an object and two cameras capture two images, We then solved the correspondence problem between the two images by using epipolar constraint and a sequential color-coded pattern based on the YCbCr coordinate. The proposed sequential color encoding strategy not only increased the speed of 3D reconstruction but also increased the robustness to the illumination variation. The proposed method was applied to 3D face data acquisition and robustness for the illumination variation was compared with the previous method. Because the suggested pattern can generate twice of the coded pixels per frame than binary coded pattern, even though four coded colors were used, the time efficiency of the suggested method was improved by about 50%. The experimental results also show that the robustness to the illumination variation was improved compare to the binary coded method.