Abstract: A method and system for real time intra-orally acquiring and registering three-dimensional measurements and images of intra-oral objects and features. An intra-oral fixed global registration position is established inside the oral cavity of a dental patient, enabling real time acquiring measurements and images of intra-oral objects and features located in multiple fields of view of a measuring and imaging device positioned at various locations in the oral cavity of a dental patient, and recording global positions of the measuring and imaging device relative to the same intra-oral fixed global registration position, where the intra-oral fixed global registration position need not be in any particular field of view of measured and imaged intra-oral objects and features.