Three-dimensional scan recovery
First Claim
1. A method comprising:
- acquiring three-dimensional surface data from a subject as a sequence of three-dimensional images at a frame rate, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images;
acquiring an image set for a next three-dimensional image at the frame rate;
when the image set can be converted into the next three-dimensional image and the next three-dimensional image can be fitted to the three-dimensional surface data, superimposing the three-dimensional surface data and the next three-dimensional image onto a two-dimensional image of the subject in a display; and
when the image set cannot be converted into the next three-dimensional image or the next three-dimensional image cannot be fitted to the three-dimensional surface data, entering a recover mode comprising the steps of;
superimposing a current two-dimensional image of the subject onto a previous two-dimensional image of the subject in the display at the frame rate, the previous two-dimensional image representing a view of the subject from a position from which one of the sequence of three-dimensional images was acquired, and the current two-dimensional image representing a view of the subject from a position from which the image set was acquired;
acquiring at least one subsequent three-dimensional image; and
test fitting the at least one subsequent three-dimensional image to one or more of the sequence of three-dimensional images.
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Accused Products
Abstract
A scanning system that acquires three-dimensional images as an incremental series of fitted three-dimensional data sets is improved by testing for successful incremental fits in real time and providing a variety of visual user cues and process modifications depending upon the relationship of newly acquired data to previously acquired data. The system may be used to aid in error-free completion of three-dimensional scans. The methods and systems described herein may also usefully be employed to scan complex surfaces including occluded or obstructed surfaces by maintaining a continuous three-dimensional scan across separated subsections of the surface. In one useful dentistry application, a full three-dimensional surface scan may be obtained for two dental arches in occlusion.
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Citations
33 Claims
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1. A method comprising:
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acquiring three-dimensional surface data from a subject as a sequence of three-dimensional images at a frame rate, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images; acquiring an image set for a next three-dimensional image at the frame rate; when the image set can be converted into the next three-dimensional image and the next three-dimensional image can be fitted to the three-dimensional surface data, superimposing the three-dimensional surface data and the next three-dimensional image onto a two-dimensional image of the subject in a display; and when the image set cannot be converted into the next three-dimensional image or the next three-dimensional image cannot be fitted to the three-dimensional surface data, entering a recover mode comprising the steps of; superimposing a current two-dimensional image of the subject onto a previous two-dimensional image of the subject in the display at the frame rate, the previous two-dimensional image representing a view of the subject from a position from which one of the sequence of three-dimensional images was acquired, and the current two-dimensional image representing a view of the subject from a position from which the image set was acquired; acquiring at least one subsequent three-dimensional image; and test fitting the at least one subsequent three-dimensional image to one or more of the sequence of three-dimensional images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method comprising:
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providing three-dimensional surface data for a subject; acquiring an image set for a three-dimensional image of the subject at a frame rate; when the image set cannot be fitted to the three-dimensional surface data, entering a landing mode comprising the steps of; superimposing a current two-dimensional image of the subject onto a previous two-dimensional image of the subject in the display at the frame rate, the current two-dimensional image representing a view of the subject from a position from which the image set was acquired, and the previous two-dimensional image representing a view of the subject from which at least a portion of the three-dimensional surface data was acquired; acquiring at least one subsequent three-dimensional image at the frame rate; fitting the at least one subsequent three-dimensional image to a second three-dimensional surface reconstruction; test fitting the at least one subsequent three-dimensional image to the three-dimensional surface data; and when the image set can be fitted to the three-dimensional surface data, superimposing the three-dimensional surface data and the next three-dimensional image onto a two-dimensional image of the subject in a display at the frame rate and adding the second three-dimensional surface reconstruction to the three-dimensional surface data. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A system comprising:
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a scanning device that acquires three-dimensional surface data from a subject as a sequence of three-dimensional images at a frame rate, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images, the device including an acquisition mode in which one or more additional three-dimensional images are acquired and added to the three-dimensional surface data at the frame rate, and the device including a recovery mode in which one or more additional three-dimensional images are test fit to one or more of the sequence of three-dimensional images to recover the acquisition mode; and a display adapted to provide one or more visual indicators distinguishing between the acquisition mode and the recovery mode, wherein during the recovery mode the display shows, at the frame rate, a current two-dimensional image from the scanning device and a two-dimensional image from a point of view corresponding to one of the sequence of three-dimensional images. - View Dependent Claims (33)
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Specification