US 12,251,281 B2
Determining spatial relationship between upper and lower teeth
David John Wood, Leeds (GB); Cecilie Anneth Osnes, Leeds (GB); and Andrew James Keeling, Leeds (GB)
Assigned to Mimetrik Solutions Limited, Leeds (GB)
Appl. No. 17/783,193
Filed by Mimetrik Solutions Limited, Leeds (GB)
PCT Filed Dec. 8, 2020, PCT No. PCT/GB2020/053143
§ 371(c)(1), (2) Date Jun. 7, 2022,
PCT Pub. No. WO2021/116672, PCT Pub. Date Jun. 17, 2021.
Claims priority of application No. 1918006 (GB), filed on Dec. 9, 2019.
Prior Publication US 2023/0012297 A1, Jan. 12, 2023
Int. Cl. G06T 7/70 (2017.01); A61C 13/34 (2006.01); A61C 19/05 (2006.01); G06T 17/00 (2006.01); G06T 19/20 (2011.01); G06V 10/44 (2022.01)
CPC A61C 19/05 (2013.01) [A61C 13/34 (2013.01); G06T 7/70 (2017.01); G06T 17/00 (2013.01); G06T 19/20 (2013.01); G06V 10/44 (2022.01); G06T 2207/30036 (2013.01); G06T 2219/2004 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving a 3D model of upper teeth of a patient and a 3D model of lower teeth of the patient;
receiving a plurality of 2D images, each image representative of at least a portion of the upper teeth and lower teeth of the patient; and
determining, based on the 2D images, a spatial relationship between the upper teeth and lower teeth of the patient;
wherein determining, based on the 2D images, a spatial relationship between the upper teeth and lower teeth of the patient, comprises:
determining an optimal alignment of the 2D images to one of the 3D model of upper teeth and the 3D model of lower teeth; and
determining an optimal alignment between the one of the 3D model of upper teeth and the 3D model of the lower teeth and the other of the 3D model of upper teeth of a patient and the 3D model of lower teeth;
wherein determining the optimal alignment comprises, for each of the 2D images:
rendering a 3D scene based on a current estimate of a camera pose at which one the 2D image was captured and the spatial relationship between the 3D model of upper teeth of a patient and the 3D model of lower teeth;
extracting a 2D rendering from the rendered 3D scene based on the current estimate of the camera pose; and
comparing the 2D rendering to the 2D image to determine a cost score indicative of a level of difference between the 2D rendering and the 2D image.