Polarized structured light is a novel method to measure shiny surface. However, the SNR of the captured image was affected by the additional polarizing filter. And the blurred influence of camera defocus was also strengthened. The accuracy of fringe edges detection was reduced. In this paper, a polarized-state-based structured light coding strategy and a phase image estimation method are proposed to improve the measurement robustness. To preserve the coding message in the complex environment, a special polarized-state-based coding strategy is adopted. To reduce the error which induced by additional polarizing filter and extracting the information from the saturated areas as much as possible, a phase image estimation method based on Stokes parameter is proposed. Compared with the traditional polarization-based structured light system, the experimental setup of proposed method is configured without any additional hardware. The experiment shows that the interference of camera defocus is remarkably reduced and the robustness of fringe edges detection is improved.