Abstract: In a computer-implemented method for detecting three-dimensional surface geometries of real intraoral structures, two-dimensional images of intraoral structures are converted into three-dimensional virtual surface geometries. Pixels of the two-dimensional images are each partitioned into segments and each segment is assigned a label. Each segment of a two-dimensional image corresponds to at least one type of real intraoral structure. There are at least two types of segment; each type of segment has a different label and at least one of the labels represents teeth and tooth-like structures.

Abstract: Disclosed is a method for registering at least two different 3D models, whereby the models image the same object at least in places, including: detecting and describing features in the 3D models; assigning features of the first 3D model to the features of the second based on descriptions that are as similar, for each feature of the first 3D model, a feature of the second is determined, and notating the first assignments as vectors, then performing the opposite assignment; comparing the vectors of the first and second assignments and determining common, bijective vectors of both, and randomly selecting at least three bijective vectors; applying the selected vectors to the first 3D model and checking whether the vectors essentially image common points of the 3D models; if successful, using the selected vectors to generate a transformation, and if not, discarding all vectors and rerunning of the method with other data.

Abstract: A method for clearing unwanted data from optically detected virtual representations of objects includes: a. Defining an extension line of the representation; b. Generating a projection plane at one point of the extension line, which is perpendicular to the generated projection plane; c. Projecting all known points in space of the representation from one region on the projection plane onto the projection plane, the corresponding point in space being stored for each projected point; d. Generating a two-dimensional curve on the projection plane; e. Determining maxima, minima and a center of the curve; f. Identifying projected points of the curve that—viewed from the center of the curve—lie outside of the minima or maxima; g. Removing the points in space that correspond to the projected points that were identified in step f.; and h. Optionally, repeating starting from step b. for one further point of the extension line.

Abstract: The invention relates to a device for detecting the three-dimensional geometry of objects, in particular teeth, comprising a handpiece which is provided with at least one position sensor for detecting the change of the spatial position of the handpiece, and an optical device having at least one camera for capturing images and at least one light source for at least one projector. The position sensor in the handpiece initially determines the size of the change of the spatial position of the device. It is determined therefrom, how many pictures the camera can take in a defined time unit.

Abstract: A method for capturing at least one sub-region of a three-dimensional geometry of at least one object, for the purpose of updating an existing virtual three-dimensional geometry of the sub-region, optionally after elements of the object present in the sub-region have been modified, removed and/or added, wherein the method includes the following steps: a) providing the existing virtual three-dimensional geometry of the object, for example, from an earlier image capture, b) capturing of two-dimensional images from which spatial information of the three-dimensional geometry of the objects is obtained, c) automatic addition of spatial information obtained to existing spatial information, if applicable d) updating the existing virtual three-dimensional geometry of the sub-region of the object based on added information, e) optionally repeating the process from step b).

Abstract: A device for detecting the three-dimensional geometry of objects (9), in particular teeth, includes a handpiece (1) which is provided with at least one position sensor (12) for detecting the change of the spatial position of the handpiece (1), and an optical device (2) having at least one camera (5, 6) for capturing images and at least one light source (3) for at least one projector (4). The position sensor (12) in the handpiece (1) initially determines the size of the change of the spatial position of the device. It is determined therefrom, how many pictures the camera (5, 6) can take in a defined time unit.

Abstract: The invention relates to a method for more effectively capturing the three-dimensional surface geometry of objects, particularly for teeth and/or intraoral structures, such as when a scanning processing is interrupted. Depth images are created in which the spatial relationships of points of the depth images to one another remain constant, but an overall spatial orientation of each new depth image is different. Points of the depth image that fulfill a first attribute is verified for every pose. The number of points that have this attribute is then counted. The pose that accordingly has the highest count is thus chosen, and an artificial depth image is then generated, in which the ascertained pose is applied “backwards” to create an artificial depth image. The real new depth image can then be transferred into the artificial depth image in order to create a new pose, which may then be verified by computation.

Abstract: A method of capturing three-dimensional (3D) information on a structure includes obtaining a first image set containing images of the structure with at least one physical camera located at a first position, the first image set comprising one or more images; reconstructing 3D information from the first image set; obtaining 3D information from a virtual camera out of an existing global model of the structure; determining correspondences between the obtained 3D information and the reconstructed 3D information; determining camera motion between the obtained 3D information and the reconstructed 3D information from the correspondences; and updating the existing global model by entering the obtained 3D information using the determined camera motion.

Abstract: In a method for displaying at least one property of an optically determined surface geometry of at least one three-dimensional object, in particular a tooth, on a display, in particular a computer screen, a defined region of the surface geometry is monitored to ascertain whether a defined criterion has been fulfilled. An amount of optically determined data of the defined region is a criterion. A number of defined regions of the surface geometry are assigned a property when all the regions of the number meet the criterion. The property is displayed graphically in a defined manner, wherein different properties are graphically displayed in a differing manner.

Abstract: In the case of a method for optical acquisition of the three-dimensional geometry of objects, in particular teeth (4), with a scanner (14), which has a scanning head (13), the three-dimensional geometry that is acquired in a virtual three-dimensional space (1) in the course of scanning is noted. In this case, in the course of scanning, positions of a defined scanner geometry (2) of the scanner (14), in particular of the scanning head (13), are noted relative to the object (4) that is acquired, and, moreover, an area (6) in which the defined scanner geometry (2) is or was located is determined. The determined area (6) is marked, for example as “empty,” in the virtual space (1).

Abstract: A method and system capturing three-dimensional information of a scene on a structure includes operating a light pattern projector to project a known light pattern onto the scene; using at least two cameras, taking images of the scene, the images being two-dimensional images taken chronologically synchronous; using first and second images, and the known position and orientation of the cameras with respect to each other, extracting a first depth map of the scene; using the first image, the known light pattern, and the known position and orientation of the first camera and the light pattern projector with respect to each other, extracting a second depth map of the scene; and using the extracted first depth map and the extracted second depth map of the scene together to make a 3D measurement of the scene.

Abstract: A device for detecting the three-dimensional geometry of objects (9), in particular teeth, includes a handpiece (1) which is provided with at least one position sensor (12) for detecting the change of the spatial position of the handpiece (1), and an optical device (2) having at least one camera (5, 6) for capturing images and at least one light source (3) for at least one projector (4). The position sensor (12) in the handpiece (1) initially determines the size of the change of the spatial position of the device. It is determined therefrom, how many pictures the camera (5, 6) can take in a defined time unit.

Abstract: A device for recording images of three-dimensional objects (10), in particular teeth, has a light source (22) and a camera (32) for recording images of the object (10), whereby in the beam path of the light source (22), at least one transparent vehicle (36, 37) is arranged with a pattern that is projected onto the object (10). The vehicle (36, 37) has sections that are offset with respect to one another in the direction of the beam path. As an alternative or in addition, at least two vehicles (36, 37) can be offset with respect to one another in the direction of the beam path.

Abstract: A method for acquiring three-dimensional images of objects uses two cameras having acquisition areas that overlap each other. In the course of a calibration method, a group of epipolar lines associated with each other is determined for each of the cameras. A specified random image is projected onto the object to be imaged. For each pixel of the camera, a first environment is determined, an associated first epipolar line is determined, and for the first epipolar line an associated second epipolar line of the second camera is determined. For all pixels of the image of the second camera that are located on the second epipolar line, a second environment congruent to the first environment is determined. The intensity values of the first and the second environments are compared with each other and a measure of agreement is calculated. A spatial position is determined by use of the previously determined transformation.

Abstract: A method of capturing three-dimensional (3D) information on a structure includes obtaining a first image set containing images of the structure with at least one physical camera located at a first position, the first image set comprising one or more images; reconstructing 3D information from the first image set; obtaining 3D information from a virtual camera out of an existing global model of the structure; determining correspondences between the obtained 3D information and the reconstructed 3D information; determining camera motion between the obtained 3D information and the reconstructed 3D information from the correspondences; and updating the existing global model by entering the obtained 3D information using the determined camera motion.

Abstract: A method and system capturing three-dimensional information of a scene on a structure includes operating a light pattern projector to project a known light pattern onto the scene; using at least two cameras, taking images of the scene, the images being two-dimensional images taken chronologically synchronous; using first and second images, and the known position and orientation of the cameras with respect to each other, extracting a first depth map of the scene; using the first image, the known light pattern, and the known position and orientation of the first camera and the light pattern projector with respect to each other, extracting a second depth map of the scene; and using the extracted first depth map and the extracted second depth map of the scene together to make a 3D measurement of the scene.

Abstract: A method of integrating new information from depth maps into an existing three-dimensional representation of an object surface, the representation being a truncated signed distance function (TSDF) noted in individual voxels, the TSDF indicating, to respective coordinates within a defined volume, a distance to a next surface, includes obtaining a depth map showing the object, the depth map containing values from measurements; and integrating new information from the depth map into the existing TSDF, wherein each individual voxel affected by the depth map within the TSDF is updated and the update for each updated voxel is selected from the group of a front update if said voxel is near the outer side, a rear update if the voxel is near the inner side, and an ambiguous update, each kind of update leads to a different weighting for the updated value within the voxel.

Abstract: A method for capturing at least one sub-region of a three-dimensional geometry of at least one object, for the purpose of updating an existing virtual three-dimensional geometry of the sub-region, optionally after elements of the object present in the sub-region have been modified, removed and/or added, wherein the method includes the following steps: a) providing the existing virtual three-dimensional geometry of the object, for example, from an earlier image capture, b) capturing of two-dimensional images from which spatial information of the three-dimensional geometry of the objects is obtained, c) automatic addition of spatial information obtained to existing spatial information, if applicable d) updating the existing virtual three-dimensional geometry of the sub-region of the object based on added information, e) optionally repeating the process from step b).

Abstract: In a method for displaying at least one property of an optically determined surface geometry of at least one three-dimensional object, in particular a tooth, on a display, in particular a computer screen, a defined region of the surface geometry is monitored to ascertain whether a defined criterion has been fulfilled. An amount of optically determined data of the defined region is a criterion. A number of defined regions of the surface geometry are assigned a property when all the regions of the number meet the criterion. The property is displayed graphically in a defined manner, wherein different properties are graphically displayed in a differing manner.