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 system, comprising:
a scanning module including an intraoral three dimensional (3D) scanner; and a processing module coupled to the scanning module to:
receive a plurality of three-dimensional (3D) scans of a dentition;estimate a motion trajectory from a particular one of the plurality of scans to a subsequent scan, wherein the estimation includes one or more of:
registering the particular scan to at least one of a previous scan and the subsequent scan, determining whether an amount of movement between the previous scan, the particular scan, and the subsequent scan is within a registration threshold, and estimating the motion trajectory based on the registration;using data from a plurality of two-dimensional (2D) images of the dentition taken during the particular scan of the dentition, determining an optical flow based on local motion between consecutive images of the plurality of 2D images, estimating a motion trajectory of a point in the particular scan, improving the estimated motion trajectory using the optical flow to estimate a correctness of the estimated motion trajectory; andestimating an amount of motion of a 3D scanner during the particular scan as a rigid body transformation based on input from at least one position tracking device that is connected to the 3D scanner; andcalculate a corrected scan by compensating for the motion trajectory.