US 12,143,558 B2
Automatic calibration of intraoral 3D scanner
Ofer Saphier, Rechovot (IL); Tal Levy, Rehovot (IL); Gal Peleg, Kiryat-Ono (IL); Eliran Dafna, Beer-sheva (IL); Sergei Ozerov, Yerevan (AM); Tal Verker, Ofra (IL); Nir Makmel, Tel Aviv (IL); and Yossef Atiya, Modiin-Maccabim-Reut (IL)
Assigned to Align Technology, Inc., San Jose, CA (US)
Filed by Align Technology, Inc., San Jose, CA (US)
Filed on Jan. 19, 2024, as Appl. No. 18/418,209.
Application 18/418,209 is a continuation of application No. 18/156,349, filed on Jan. 18, 2023, granted, now 11,930,154.
Application 18/156,349 is a continuation of application No. 16/910,042, filed on Jun. 23, 2020, granted, now 11,563,929, issued on Jan. 24, 2023.
Claims priority of provisional application 62/953,060, filed on Dec. 23, 2019.
Claims priority of provisional application 62/865,878, filed on Jun. 24, 2019.
Prior Publication US 2024/0163413 A1, May 16, 2024
Int. Cl. H04N 13/204 (2018.01); G01B 11/25 (2006.01); G06T 7/521 (2017.01); H04N 1/00 (2006.01)
CPC H04N 13/204 (2018.05) [G01B 11/25 (2013.01); G06T 7/521 (2017.01); H04N 1/00018 (2013.01)] 24 Claims
OG exemplary drawing
 
1. An intraoral scanning system, comprising:
an intraoral scanner, comprising:
one or more structured light projectors, each structured light projector configured to project a pattern of light onto an intraoral surface;
two or more cameras, configured to capture one or more sets of images, wherein each set of images comprises at least one image from each camera of the two or more cameras, and wherein each image includes at least a portion of the projected pattern of light; and
one or more processors, configured to:
solve a correspondence problem within a set of images of the one or more sets of images such that points in three-dimensional (3D) space are determined based on correspondence of captured features in the set of images to projected features of at least the portion of the projected pattern, wherein said points in 3D space form a solution to the correspondence problem; and
calibrate the intraoral scanner by performing a change to stored calibration data associated with the intraoral scanner, wherein the change is based on the solution to the correspondence problem.