Motion compensation in a three dimensional scan

摘要

The present disclosure provides computing device implemented methods, computing device readable media, and systems for motion compensation in a three dimensional scan. Motion compensation can include receiving three-dimensional (3D) scans of a dentition, estimating a motion trajectory from one scan to another, and calculating a corrected scan by compensating for the motion trajectory. Estimating the motion trajectory can include one or more of: registering a scan to another scan and determining whether an amount of movement between the scans is within a registration threshold; determining an optical flow based on local motion between consecutive two-dimensional (2D) images taken during the scan, estimating and improving a motion trajectory of a point in the scan using the optical flow; and estimating an amount of motion of a 3D scanner during the scan as a rigid body transformation based on input from a position tracking device.

主权项

1. A non-transitory computing device readable medium having instructions that can be executed by a processor to cause a computing device to:
receive a plurality of three-dimensional (3D) scans of a dentition; register a distorted one of the plurality of scans to at least one of a previous scan and a subsequent scan; determine whether an amount of movement between the distorted scan and at least one of the previous scan and the subsequent scan is within a registration threshold; estimate a motion trajectory during a scanning time of the distorted scan; and calculate a corrected scan for the distorted scan by compensating for the motion trajectory during the scanning time of the distorted scan.