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Because color patterns with multiple channels can carry more information than gray patterns with only one channel, color phase-shifting profilometry (CPSP) has been widely used for high-speed, three-dimensional (3D) shape measurement. However, the accuracy of CPSP suffers from nonlinear errors caused by color crosstalk. This paper presents an effective nonlinear error correction method for CPSP based on histogram equalization. The two main steps of the proposed method are eliminating nonlinear errors with histogram equalization and optimizing the results using a spline fitting algorithm. Compared with other compensation methods, the proposed approach does not require any precalibration information or additional patterns, which are very time-consuming. The simulations and experiments indicate that the proposed method has a promising performance for nonlinear error elimination. [ABSTRACT FROM AUTHOR]