MOTION COMPENSATION IN A THREE DIMENSIONAL SCAN
First Claim
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; and
estimating 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; and
calculate a corrected scan by compensating for the motion trajectory.
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Accused Products
Abstract
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.
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Citations
39 Claims
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1. A system, comprising:
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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; and estimating 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; and calculate a corrected scan by compensating for the motion trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 14, 15)
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8. A computing device readable physical medium having instructions that can be executed by a processor to cause a computing device to:
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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 previous scan, the distorted scan, and the subsequent scan is within a registration threshold; estimate a first motion trajectory from the previous scan to the subsequent scan based on the registration; estimate a second 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. - View Dependent Claims (9, 10, 11, 12, 13, 16, 17, 18, 19, 20, 21)
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22. A computer implemented method, comprising:
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receiving first data from a three-dimensional (3D) scan of a dentition taken with a 3D scanner in a first reference frame; receiving second data from a plurality of two-dimensional (2D) images of the dentition taken during the scan of the dentition with a 2D imager in a second reference frame that is fixed with respect to the first reference frame, where each of the plurality of 2D images is associated with a respective time in the scan; 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 scan; improving the estimated motion trajectory using the optical flow to estimate a correctness of the estimated motion trajectory; and compensating for motion during the scan using the improved estimated motion trajectory; where the method is performed by the computer. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A system, comprising:
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a scanning module including; an intraoral three dimensional (3D) scanner; and at least one position tracking device coupled to the 3D scanner; and a processing module coupled to the scanning module to; estimate an amount of motion of the 3D scanner during a scan as a rigid body transformation based on input from the at least one position tracking device; and compensate for the amount of motion by applying an inverse of the rigid body transformation to a plurality of points comprising the scan. - View Dependent Claims (35, 36, 37, 38, 39)
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Specification