Intraoral 3D scanner employing multiple miniature cameras and multiple miniature pattern projectors

A method for generating 3D images includes driving a structured light projector to project a light pattern on an intraoral 3D surface, and driving cameras to capture images, each image including at least a portion of the projected pattern, each camera including an array of pixels. The processor compares the series of images captured by each camera and determines which portions of the projection pattern can be tracked across the images. The processor constructs a three-dimensional model of the intraoral three-dimensional surface based at least in part on the comparison of the series of images. Other embodiments are also described. 一种用于生成3D图像的方法，包括：驱动结构光投影器以将光图案投影在口内3D表面上，以及驱动摄像头以捕获图像，每个图像包括投影图案的至少部分，每个摄像头包括像素阵列。处理器比较每个摄像头捕获到的一系列图像，并确定可以跨图像跟踪投影图案的哪些部分。处理器至少部分地基于该一系列图像的比较来构建口内三维表面的三维模型。还描述了其他实施例。