Scanning Data Processing Method, Apparatus, Device, and Medium

Abstract

An embodiment of the present disclosure relates to a scanning data processing method, device, equipment and medium, in which the method includes: acquiring a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, performing processing according to the plurality of frames of processing target images, combining with a current camera pose to acquire all three-dimensional coordinate points in the same coordinate system, performing measurement processing for all three-dimensional coordinate points, acquiring target three-dimensional coordinate points, and determining a transformation relationship of a target position according to the target three-dimensional coordinate points and the distribution true values. By using the above technical solution, the transformation relationship of the target position is determined according to the preset distribution true values ​​of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, thereby enabling accurate positioning of the relative position between the scanning rods, and improving the efficiency and accuracy of data processing in the case of intraoral scanning.

Description

Technical Field

[0001] <Cross - reference to Related Applications> This disclosure claims the priority of a Chinese patent application with an application number of 202210494057.6 and an invention title of "Scanning Data Processing Method, Apparatus, Device, and Medium", which was filed with the China National Intellectual Property Administration on May 2, 2022, and the entire content of that application is incorporated herein by reference.

[0002] This disclosure relates to the field of intraoral scanning technology, and particularly to a scanning data processing method, apparatus, device, and medium.

Background Art

[0003] Generally, for the restoration in the case of tooth loss, a scanning rod is used to scan to determine the implant position.

[0004] In related technologies, since the scanning range of intraoral scanning is limited, a solution of stitching multi - data is generally used when scanning intraoral data. Due to cumulative errors, it finally causes the overall accuracy of the model to be low.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The technical problem to be solved by this disclosure is to solve the problem that in the prior art, a solution of stitching multi - data is generally used when scanning intraoral data, which causes cumulative errors and finally leads to a low overall accuracy of the model.

Means for Solving the Problems

[0006] To solve the above - mentioned technical problems, embodiments of this disclosure provide a scanning data processing method, apparatus, device, and medium.

[0007] In a first aspect, a scanning data processing method is provided, and the method includes: Obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, and performing processing based on the plurality of frames of processing target images to obtain all three-dimensional coordinate points in the same coordinate system, and performing measurement processing on all the three-dimensional coordinate points to obtain target three-dimensional coordinate points, and determining a conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values.

[0008] In a second aspect, a scanning data processing apparatus is further provided, and the apparatus includes means for obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, and Image acquisition unit where the auxiliary feature points have corresponding distribution true values, and Image acquisition unit and means for performing processing based on the plurality of frames of processing target images to obtain all three-dimensional coordinate points in the same coordinate system, and Image processing unit and means for performing measurement processing on all the three-dimensional coordinate points to obtain target three-dimensional coordinate points, and Measurement processing unit and means for determining a conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values. Decision unit and.

[0009] In a third aspect, an electronic device is further provided, and the electronic device includes a processor and a memory for storing executable instructions of the processor. The processor reads the executable instructions from the memory and executes the instructions to implement the scanning data processing method according to the embodiments of the present disclosure.

[0010] In a fourth aspect, a computer storage medium is further provided. Here, a computer program is stored in the storage medium, and the computer program is, for example, for executing the scanning data processing method according to the first aspect of the present disclosure.

Advantages of the Invention

[0011] The technical solution according to the embodiments of the present disclosure has the following advantages compared with the prior art.

[0012] The method for processing scanning data according to the embodiments of the present disclosure includes obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, performing processing based on the plurality of frames of processing target images, obtaining all three-dimensional coordinate points in the same coordinate system, performing measurement processing on all the three-dimensional coordinate points to obtain target three-dimensional coordinate points, and determining a conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values. When the above technical solution is adopted, by determining the conversion relationship of the target position based on the preset distribution true values of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, it is possible to accurately position the relative positions between the scanning rods, and improve the data processing efficiency and accuracy in the case of intraoral scanning.

[0013] It should be understood that the above general description and subsequent detailed description are merely exemplary and explanatory, and cannot limit the present disclosure.

Brief Description of the Drawings

[0014] The drawings are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure and explaining the principles of the present disclosure together with the specification.

[0015] To more clearly explain the technical solutions in the embodiments of the present disclosure or the prior art, the drawings used in the description of the embodiments or the prior art are briefly described below. Needless to say, those skilled in the art may obtain other drawings based on these drawings without creative work.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the following will clearly and comprehensively describe the technical solutions in the embodiments of the present disclosure. Naturally, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Those skilled in the art can obtain all other embodiments without creative work based on the embodiments of the present disclosure, and all of them are included in the scope of the claims of the present disclosure.

[0017] In practical applications, for the restoration in the case of tooth loss, since the scanning range of the intraoral scan is limited, the solution of stitching multi-data when scanning the intraoral data is generally used, and due to the cumulative error, it will eventually cause the overall accuracy of the model to be low.

[0018] In response to the above problems, the present disclosure provides a scanning data processing method, which may be applied to an application environment as shown in FIG. 1. FIG. 1 is a diagram showing an application scenario of scanning data processing according to an embodiment of the present disclosure. The application environment includes attaching a plurality of intraoral scanning rods to a target oral cavity. The intraoral scanning rod includes a scanning rod component 11 and an auxiliary component 12 connected to the scanning rod component 11. Auxiliary feature points are installed on the scanning rod component 11 and / or the auxiliary component 12. Here, the shape feature of the auxiliary component 12 itself is regarded as an auxiliary feature. The scanning rod component 11 is adapted to the implant body attached to the target oral cavity. By attaching the scanning rod component 11 to the implant body in an adapted manner, the intraoral scanning rod is attached to the target oral cavity.

[0019] Here, when the auxiliary parts 12 of any two of the plurality of intraoral scanning rods are compatible with each other, when any two intraoral scanning rods 10 are adjacently attached to the oral cavity, the auxiliary feature points on the two auxiliary parts are continuously distributed. In advance, for example, the true value coordinate points of the auxiliary feature points can be obtained by a single-lens photography measurement system, a three-dimensional coordinate measuring instrument, etc. Theoretically, the three-dimensional coordinate points corresponding to the images obtained by scanning correspond one-to-one to the true value coordinate points of the auxiliary feature points obtained in advance.

[0020] As an example of one scenario, a plurality of intraoral scanning rods are attached to the target oral cavity. The intraoral scanning rods include a scanning rod component connected to the implant body and an auxiliary component connected to the scanning rod component. The intraoral scanning rods are provided with target features. The target features are continuously distributed in the scanning rod and / or the auxiliary component, and the target features are not distributed on one side of the scanning rod and / or the auxiliary component.

[0021] Specifically, the intraoral scanner scans the target oral cavity, obtains a plurality of frames of images, transfers them to the data processing module for data processing, and the data processing module executes the following method.

[0022] Obtain a plurality of frames of images, and based on the plurality of frames of images, obtain the initial three-dimensional data of the target oral cavity. The initial three-dimensional data includes the initial point set of the target oral cavity and the three-dimensional coordinate measurement values of the target features in the same coordinate system. Obtain the preset model of the intraoral scanning rod. The preset model includes the three-dimensional coordinate true values of the target features and the real point set of the intraoral scanning rod (the three-dimensional coordinate true values of each point) in the same coordinate system. Perform stitching on the initial point set of the target oral cavity and the real point set of the intraoral scanning rod based on the correspondence between the three-dimensional coordinate measurement values and the true values of the target features. Based on the real point set of the stitched intraoral scanning rod, determine the positioning information of the intraoral scanning rod. The positioning information of the intraoral scanning rod is the positioning information of the implant body. Based on the positioning information, design the tooth body, and the manufactured tooth body can be properly attached to the implant body.

[0023] Specifically, obtain the processing target images of multiple frames including auxiliary feature points. Here, the auxiliary feature points have corresponding distribution true values. Perform processing based on the processing target images of multiple frames, obtain all three-dimensional coordinate points in the same coordinate system, perform measurement processing on all three-dimensional coordinate points, obtain the target three-dimensional coordinate points, and determine the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values. Thus, realize determining the conversion relationship of the target position based on the preset distribution true values of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, enable accurate positioning of the relative positions between the scanning rods, and improve the data processing efficiency and accuracy in the case of intraoral scanning.

[0024] Specifically, FIG. 2 is a flowchart of a scanning data processing method according to an embodiment of the present disclosure. The method may be executed by a scanning data processing device. Here, the device can be realized by using software and / or hardware and may generally be integrated in an electronic device. As shown in FIG. 2, the method includes the following steps: In step 101, obtain the processing target images of multiple frames including auxiliary feature points. Here, the auxiliary feature points have corresponding distribution true values.

[0025] Here, the scanning rod includes a scanning rod body and an auxiliary feature body. Auxiliary feature points are installed on the scanning rod body, or there are no auxiliary feature points on the scanning rod body, and auxiliary feature points are installed on the auxiliary feature body between the scanning rod bodies, or the shape of the auxiliary feature body itself is used as the auxiliary feature points.

[0026] Here, the target oral cavity refers to the oral cavity that needs to undergo dental implant treatment. It is necessary to scan the oral cavity to determine the implant position within the oral cavity. In advance, auxiliary components of any two of a plurality of intraoral scanning rods are attached adjacent to each other in the target oral cavity, and the auxiliary feature points on the two auxiliary components are distributed continuously, so that the intraoral scanning of the target oral cavity can be performed, and a plurality of frames of images to be processed are obtained.

[0027] Here, the target oral cavity can be scanned by a handheld oral scanner (single-lens or binocular camera), that is, a plurality of frames of images to be processed are obtained by taking pictures. For example, dozens of frames of images to be processed can be collected per second and can be repeatedly collected.

[0028] In an embodiment of the present disclosure, the scanning rod is a feature object including auxiliary feature points. Here, one feature can be uniquely identified by the auxiliary feature points. That is, when the auxiliary feature points are installed on the scanning rod, each auxiliary feature point can uniquely identify the position feature corresponding to the scanning rod. For example, target feature a and target feature b are respectively installed at position 1 and position 2 on the scanning rod, and target feature a can uniquely identify the position feature of position 1 on the scanning rod, and target feature b can uniquely identify the position feature of position 2 on the scanning rod.

[0029] It should be understood that anything that can uniquely identify the position feature corresponding to the scanning rod, such as different shapes, colors, two-dimensional codes, etc. on the scanning rod, can be used as the auxiliary feature points.

[0030] Specifically, the true value of the distribution of the auxiliary feature points or the true value of the distribution of the auxiliary feature points in computer-aided design, that is, the coordinate values of the auxiliary feature points, can be obtained by a more accurate device, such as a single-lens photography measurement system, a three-dimensional coordinate measuring instrument, etc.

[0031] In the embodiments of the present disclosure, each processed image obtained by each scan includes at least a predetermined number of auxiliary feature points, and by showing the distribution continuity of the auxiliary feature points, the subsequent calculation accuracy is ensured. Here, the predetermined number can be set based on the application scenario.

[0032] For example, the predetermined number is 3. When the processed image obtained by scanning includes 2 auxiliary feature points, it indicates that the distribution of the auxiliary feature points is not continuous. When the processed image obtained by scanning includes 3 auxiliary feature points, it indicates that the distribution of the auxiliary feature points is continuous.

[0033] In the embodiments of the present disclosure, there are various ways to obtain a plurality of frames of processed images. In some embodiments, a monocular camera is controlled to rotate according to a certain direction and scan the target oral cavity according to a certain frequency, so as to obtain a plurality of frames of processed images.

[0034] In other embodiments, a binocular camera is controlled to repeatedly scan the target oral cavity, so as to obtain a plurality of frames of processed images. The above two methods are only examples of obtaining a plurality of frames of processed images, and the embodiments of the present disclosure do not limit the specific manner of obtaining a plurality of frames of processed images.

[0035] Specifically, after a scanning rod is connected to the target oral cavity, the target oral cavity including the scanning rod is scanned to obtain a plurality of frames of processed images.

[0036] In step 102, processing is performed based on a plurality of frames of processed images to obtain all three-dimensional coordinate points in the same coordinate system.

[0037] Here, all three-dimensional coordinate points refer to the three-dimensional coordinate points corresponding to all auxiliary feature points in the target oral cavity.

[0038] In an embodiment of the present disclosure, there are various ways to perform processing based on the images to be processed of multiple frames and obtain all three-dimensional coordinate points in the same coordinate system. In some embodiments, the two-dimensional coordinate points of the auxiliary feature points in the images to be processed of each frame are obtained, three-dimensional reconstruction is performed based on a predetermined internal parameter matrix and the two-dimensional coordinate points, the three-dimensional coordinate points corresponding to the auxiliary feature points of the images to be processed of each frame are obtained, the three-dimensional coordinate points corresponding to the auxiliary feature points of the images to be processed of multiple frames are stitched, and the three-dimensional coordinate points in the same coordinate system of the auxiliary feature points of the images to be processed of multiple frames are obtained.

[0039] In other embodiments, the two-dimensional coordinate points of the auxiliary feature points in the images to be processed of each frame are obtained, Two-dimensional coordinate points, and two cameras and two-dimensional coordinate points relative position with three-dimensional reconstruction is performed based on them, the three-dimensional coordinate points corresponding to the auxiliary feature points of the images to be processed of each frame are obtained, the three-dimensional coordinate points corresponding to the auxiliary feature points of the images to be processed of multiple frames are stitched, and the three-dimensional coordinate points in the same coordinate system of the auxiliary feature points of the images to be processed of multiple frames are obtained. The above two methods are only examples of performing processing based on the images to be processed of multiple frames and obtaining three-dimensional coordinate points in the same coordinate system, and the embodiments of the present disclosure do not limit the specific manner of performing processing based on the images to be processed of multiple frames and obtaining three-dimensional coordinate points in the same coordinate system.

[0040] In an embodiment of the present disclosure, after obtaining the images to be processed of multiple frames, processing can be performed based on the images to be processed of multiple frames, and three-dimensional coordinate points in the same coordinate system can be obtained.

[0041] In step 103, measurement processing is performed on the three-dimensional coordinate points to obtain target three-dimensional coordinate points.

[0042] Here, the target three-dimensional coordinate points refer to the three-dimensional coordinate points obtained by measuring and processing the three-dimensional coordinate points, and can more accurately represent the three-dimensional coordinate points of the auxiliary feature points.

[0043] In embodiments of the present disclosure, there are various ways to perform measurement processing on all three-dimensional coordinate points and obtain target three-dimensional coordinate points. In some embodiments, each three-dimensional coordinate point is projected into an image coordinate system to obtain two-dimensional pixel coordinate points. When the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, the three-dimensional coordinate point is used as the target three-dimensional coordinate point.

[0044] In other embodiments, an image of the Nth frame in which the three-dimensional coordinate point appears is acquired, two-dimensional pixel coordinate points of the image of the Nth frame are acquired, and a target three-dimensional coordinate point is determined based on the distance between the two-dimensional coordinate point projected by the three-dimensional coordinate point and the two-dimensional pixel coordinate points. Here, N is a positive integer. The above two methods are only examples of performing measurement processing on all three-dimensional coordinate points and obtaining target three-dimensional coordinate points. Embodiments of the present disclosure do not limit the specific manner of performing measurement processing on all three-dimensional coordinate points and obtaining target three-dimensional coordinate points.

[0045] Specifically, after all three-dimensional coordinate points are acquired, measurement processing can be performed on all three-dimensional coordinate points to obtain target three-dimensional coordinate points.

[0046] In step 104, based on the target three-dimensional coordinate point and the distribution true value, a conversion relationship of the target position is determined.

[0047] Here, the conversion relationship of the target position refers to converting the target three-dimensional coordinate point obtained by scanning into a conversion matrix of the correspondingly designed distribution true value.

[0048] In the embodiments of the present disclosure, there are various methods for determining the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values. In some embodiments, it is calculated based on a predetermined scale factor, the target three-dimensional coordinate points, and the distribution true values to obtain the conversion relationship of the initial position. Then, based on a predetermined optimization formula, an optimization calculation is performed on the scale factor, the target three-dimensional coordinate points, the distribution true values, and the conversion relationship of the initial position to obtain an optimization value. The conversion relationship of the scale factor and the initial position is adjusted, and when the optimization value is smaller than a predetermined threshold, the conversion relationship of the corresponding initial position is obtained as the conversion relationship of the target position.

[0049] In other embodiments, the conversion relationship of the position from each target three-dimensional coordinate point to the distribution true value is calculated, and based on the conversion relationships of multiple positions, the conversion relationship of the target position is obtained. The above two methods are only examples of determining the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values, and the embodiments of the present disclosure do not limit the specific manner of determining the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true values.

[0050] In the method for processing scanning data according to the embodiments of the present disclosure, a plurality of frames of images to be processed are obtained. Here, each frame of the image to be processed includes auxiliary feature points, and the auxiliary feature points have corresponding distribution true values. Processing is performed based on the plurality of frames of images to be processed to obtain all three-dimensional coordinate points, measurement processing is performed on all the three-dimensional coordinate points to obtain target three-dimensional coordinate points, and based on the target three-dimensional coordinate points and the distribution true values, the conversion relationship of the target position is determined. By adopting the above technical solution, it is possible to accurately position the relative positions between the scanning rods by determining the conversion relationship of the target position based on the preset distribution true values of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, thereby improving the data processing efficiency and accuracy in the case of intraoral scanning.

[0051] Based on the description of the above embodiments, scanning can be performed by a monocular camera and a binocular camera. Hereinafter, the monocular camera and the binocular camera will be described in detail with reference to FIGS. 3 and 4 respectively.

[0052] Specifically, FIG. 3 is a flowchart of another scanning data processing method according to an embodiment of the present disclosure. Based on the above embodiment, this embodiment further optimizes the above scanning data processing method. As shown in FIG. 3, the method includes: In step 201, the scanning device is controlled to rotate according to a predetermined direction and scan a target oral cavity including a scanning rod according to a predetermined frequency, and a plurality of frames of images to be processed are obtained. Here, the auxiliary feature points have corresponding distribution true values.

[0053] Specifically, a plurality of frames of images to be processed are obtained by controlling a monocular camera to rotate according to a certain direction and scan the target oral cavity according to a certain frequency, or a plurality of frames of images to be processed are obtained by controlling a binocular camera to repeatedly scan the target oral cavity.

[0054] In step 202, the two-dimensional coordinate points of the auxiliary feature points in each frame of the image to be processed are obtained, calculated based on a predetermined internal parameter matrix and the two-dimensional coordinate points, the three-dimensional coordinate points of each frame of the image to be processed are obtained, the three-dimensional coordinate points of each frame of the image to be processed are stitched, and all the three-dimensional coordinate points in the same coordinate system are obtained.

[0055] Specifically, the processing target images of multiple frames are acquired by scanning (for example, in a method of being triggered by hardware for shooting, dozens of processing target images per second are collected and repeatedly collected), and based on the processing target images, the two-dimensional coordinate points of the auxiliary feature points in the processing target images of each frame are obtained (that is, in the method of image identification processing, the pixel coordinates of the auxiliary feature points in the processing target images of each frame are extracted). Furthermore, based on the internal parameters of the camera (such as focal length, principal point, skew factor, and lens distortion), and the posture of texture tracking (for example, by obtaining the geometry and texture information of the surface of the scanning rod to perform stitching of adjacent frames), the auxiliary feature points of the current frame are reconstructed, and the reconstructed three-dimensional coordinate points are based on the coordinate system of the camera of the first frame during scanning (the coordinate system of the camera of the first frame is determined by the image of the first frame, and since all subsequent frames are stitched with the first frame, the coordinate systems are all the coordinate system of the camera of the first frame, and what is identified by the image is two-dimensional coordinate points. In order to obtain three-dimensional coordinate points, it is necessary to convert it into the coordinate system of the camera).

[0056] Here, the internal parameter matrix refers to the matrix composed of the internal parameters of the camera. Based on the internal parameter matrix, the two-dimensional coordinate points are back-projected into the coordinate system of the camera to obtain three-dimensional coordinate points.

[0057] Specifically, stitching is performed based on the three-dimensional coordinate points of the processing target images of each frame to obtain all three-dimensional coordinate points. By aligning the different coordinate systems of two frames through their common part based on a predetermined stitching algorithm, stitching can be performed to obtain all three-dimensional coordinate points. That is, the three-dimensional coordinate points reconstructed in all the first frames are fused into the overall frame points according to the distance constraint condition, that is, all the three-dimensional coordinate points, and all the three-dimensional coordinate points are based on the coordinate system (world coordinate system) of the overall model of the teeth.

[0058] In step 203, each three-dimensional coordinate point is projected onto the image coordinate system to obtain two-dimensional pixel coordinate points. When the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, the three-dimensional coordinate point is used as the target three-dimensional coordinate point.

[0059] JPEG0007683133000001.jpg50170JPEG0007683133000002.jpg14170Here, m represents the number of three-dimensional coordinate points, and n represents the number of images to be processed.

[0060] In step 204, calculations are performed based on a predetermined scale factor, the target three-dimensional coordinate point, and the distribution true value to obtain the conversion relationship of the initial position. Optimization calculations are performed on the scale factor, the target three-dimensional coordinate point, the distribution true value, and the conversion relationship of the initial position based on a predetermined optimization mathematical formula to obtain the optimization value.

[0061] In step 205, the conversion relationship between the scale factor and the initial position is adjusted, and when the optimization value is smaller than a predetermined threshold, the conversion relationship of the initial position corresponding thereto is obtained as the conversion relationship of the target position.

[0062] JPEG0007683133000003.jpg18170All scanning rods may be understood as one small region) Stitching that scales with respect to the distribution true value of the auxiliary feature points (the stitching is rigid, does not change the scale, and when the scale changes, S i By introducing a scale factor and calculating), the conversion relationship of the target positions of different scanning rods is determined. minf() refers to the non-linear least squares algorithm. As shown in the specific formula (2), JPEG0007683133000004.jpg7170JPEG0007683133000005.jpg46170

[0063] Thereby, by scanning the entire oral cavity, the relative positions between the scanning rods can be accurately positioned.

[0064] The processing method of scanning data according to an embodiment of the present disclosure includes obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, obtaining two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame, calculating based on a predetermined internal parameter matrix and the two-dimensional coordinate points to obtain three-dimensional coordinate points of the processing target image of each frame, stitching the three-dimensional coordinate points of the processing target image of each frame to obtain all the three-dimensional coordinate points in the same coordinate system, projecting each three-dimensional coordinate point onto the image coordinate system to obtain two-dimensional pixel coordinate points, when the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, taking the three-dimensional coordinate point as the target three-dimensional coordinate point, calculating based on a predetermined scale factor, the target three-dimensional coordinate point and the distribution true value to obtain the conversion relationship of the initial position, performing an optimization calculation on the scale factor, the target three-dimensional coordinate point, the distribution true value and the conversion relationship of the initial position based on a predetermined optimization formula to obtain an optimization value, adjusting the scale factor and the conversion relationship of the initial position, and obtaining the conversion relationship of the initial position corresponding when the optimization value is smaller than a predetermined threshold value as the conversion relationship of the target position. Thereby, by determining the conversion relationship of the target position based on the preset distribution true value of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, it is possible to accurately position the relative positions between the scanning rods, and improve the data processing efficiency and accuracy in the case of intraoral scanning.

[0065] Specifically, FIG. 4 is a flowchart of another scanning data processing method according to an embodiment of the present disclosure. This embodiment further optimizes the above scanning data processing method based on the above embodiment. As shown in FIG. 4, the method includes In step 301, the scanning device is controlled to rotate according to a predetermined direction and scan a target oral cavity including a scanning rod according to a predetermined frequency, and a plurality of frames of processing target images are obtained, where the auxiliary feature points have corresponding distribution true values.

[0066] Specifically, by controlling a monocular camera to rotate according to a certain direction and scan a target oral cavity according to a certain frequency, a plurality of frames of images to be processed are acquired, or by controlling a binocular camera to repeatedly scan a target oral cavity, a plurality of frames of images to be processed are acquired.

[0067] Step 302: Obtain the two-dimensional coordinate points of the auxiliary feature points in the image to be processed for each frame. Two-dimensional coordinate points, and Two cameras and Two-dimensional coordinate points relative position with Calculate based on the two-dimensional coordinate points, obtain the three-dimensional coordinate points of the image to be processed for each frame, stitch the three-dimensional coordinate points of the image to be processed for each frame, and obtain all the three-dimensional coordinate points in the same coordinate system.

[0068] Specifically, acquire the image to be processed by scanning, and based on the image to be processed, obtain the two-dimensional coordinate points of the auxiliary feature points in the image to be processed for each frame. Two-dimensional coordinate points, and Two cameras and the two-dimensional coordinate points Based on the relative positions, reconstruct the three-dimensional coordinate points of the auxiliary feature points of one frame. The reconstructed three-dimensional coordinate points are based on the coordinate system of the left camera of the current frame (generally, the reconstructed depth information is based on the coordinate system of the left camera).

[0069] Specifically, based on the three-dimensional coordinate points of the reconstructed auxiliary feature points for each frame and the distance distribution information of the auxiliary feature points based on adjacent frames (it is only necessary to calculate the distance between the coordinate points of two auxiliary feature points each time), search for the same auxiliary feature points photographed in adjacent frames, stitch the auxiliary feature points, and obtain all the three-dimensional coordinate points. That is, fuse all the three-dimensional coordinate points reconstructed in one frame into the overall frame points according to the distance constraint conditions, that is, all the three-dimensional coordinate points. All these three-dimensional coordinate points are based on the coordinate system of the overall tooth model (world coordinate system).

[0070] In step 303, each three-dimensional coordinate point is projected onto the image coordinate system to obtain two-dimensional pixel coordinate points. When the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, the three-dimensional coordinate point is used as the target three-dimensional coordinate point.

[0071] JPEG0007683133000006.jpg47170

[0072] JPEG0007683133000007.jpg13170 Here, m represents the number of three-dimensional coordinate points, and n represents the number of images to be processed.

[0073] In step 304, calculations are performed based on a predetermined scale factor, the target three-dimensional coordinate point, and the distribution true value to obtain the conversion relationship of the initial position. Optimization calculations are performed on the scale factor, the target three-dimensional coordinate point, the distribution true value, and the conversion relationship of the initial position based on a predetermined optimization mathematical formula to obtain an optimization value.

[0074] In step 305, the conversion relationship between the scale factor and the initial position is adjusted, and when the optimization value is smaller than a predetermined threshold, the conversion relationship of the corresponding initial position is obtained as the conversion relationship of the target position.

[0075] JPEG0007683133000008.jpg18170 Any scanning rod may be understood as one small region) Stitching that scales with respect to the distribution true value of the auxiliary feature points (the stitching is rigid, does not change the scale, and when the scale changes, S i By introducing a scale factor to calculate and performing (), the conversion relationship of the target positions of different scanning rods is determined. minf() refers to the non-linear least squares algorithm. As shown in the specific formula (2), JPEG0007683133000009.jpg7170JPEG0007683133000010.jpg46170

[0076] Thereby, by scanning the entire oral cavity, the relative positions between the scanning rods can be accurately positioned.

[0077] The processing method of the scanning data according to the embodiments of the present disclosure includes obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values, and obtaining the two-dimensional coordinate points of the auxiliary feature points in the processing target images of each frame. Two-dimensional coordinate points, and Two cameras and Two-dimensional coordinate points relative position of Based on this, calculate to obtain the three-dimensional coordinate points of the processing target images of each frame, stitch the three-dimensional coordinate points of the processing target images of each frame to obtain all the three-dimensional coordinate points in the same coordinate system, project each three-dimensional coordinate point into the image coordinate system to obtain two-dimensional pixel coordinate points, and when the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, use the three-dimensional coordinate points as the target three-dimensional coordinate points, calculate based on a predetermined scale factor, the target three-dimensional coordinate points and the distribution true values to obtain the conversion relationship of the initial position, perform optimization calculations on the scale factor, the target three-dimensional coordinate points, the distribution true values and the conversion relationship of the initial position based on a predetermined optimization formula to obtain an optimization value, adjust the scale factor and the conversion relationship of the initial position, and when the optimization value is smaller than a predetermined threshold, obtain the conversion relationship of the corresponding initial position as the conversion relationship of the target position. Thereby, by determining the conversion relationship of the target position based on the preset distribution true values of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, it is possible to accurately position the relative positions between the scanning rods, and improve the data processing efficiency and accuracy in the case of intraoral scanning.

[0078] FIG. 5 is a configuration diagram of a scanning data processing apparatus according to an embodiment of the present disclosure. The apparatus can be realized by software and / or hardware and can generally be integrated into an electronic device. As shown in FIG. 5, the apparatus includes 401 for obtaining a plurality of frames of processing target images including auxiliary feature points, where the auxiliary feature points have corresponding distribution true values Image acquisition unit 401, and Image acquisition unit 401 and 402 for performing processing based on the plurality of frames of processing target images to obtain all the three-dimensional coordinate points in the same coordinate system Image processing unit 402, and Performing measurement processing on all of the three-dimensional coordinate points to obtain target three-dimensional coordinate points Measurement processing unit 403, and Based on the target three-dimensional coordinate points and the distribution true value, for determining the conversion relationship of the target position Decision unit 404, and includes them.

[0079] Preferably, the Image processing unit 402 is specifically Obtaining the two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame, Calculating based on a predetermined internal parameter matrix and the two-dimensional coordinate points to obtain the three-dimensional coordinate points of the processing target image of each frame, Stitching the three-dimensional coordinate points of the processing target image of each frame to obtain all the three-dimensional coordinate points in the same coordinate system, and is used for this.

[0080] Preferably, the Image processing unit 402 is specifically Obtaining the two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame, Two-dimensional coordinate points, and Two cameras and The two-dimensional coordinate points relative position with Calculating based on this to obtain the three-dimensional coordinate points of the processing target image of each frame, Stitching the three-dimensional coordinate points of the processing target image of each frame to obtain all the three-dimensional coordinate points in the same coordinate system, and is used for this.

[0081] Preferably, the Measurement processing unit 403 is specifically Projecting each of the three-dimensional coordinate points onto an image coordinate system to obtain two-dimensional pixel coordinate points, When the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, using the three-dimensional coordinate points as the target three-dimensional coordinate points, and is used for this.

[0082] Preferably, theDecision unit 404 is specifically for calculating based on a predetermined scale factor, the target three-dimensional coordinate points, and the distribution true value to obtain the conversion relationship of the initial position, performing an optimization calculation on the scale factor, the target three-dimensional coordinate points, the distribution true value, and the conversion relationship of the initial position based on a predetermined optimization mathematical formula to obtain an optimization value, adjusting the conversion relationship between the scale factor and the initial position, and obtaining the conversion relationship of the initial position corresponding to when the optimization value is smaller than a predetermined threshold as the conversion relationship of the target position.

[0083] Preferably, Image acquisition unit 401 is specifically for controlling the scanning device to rotate according to a predetermined direction and scan a target oral cavity including a scanning rod according to a predetermined frequency to obtain the processing target images of the plurality of frames.

[0084] The scanning data processing device according to an embodiment of the present disclosure can execute the scanning data processing method according to any embodiment of the present disclosure, and has a functional module and beneficial effects corresponding to the execution of the method.

[0085] The embodiment of the present disclosure further provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the scanning data processing method according to any embodiment of the present disclosure is realized.

[0086] FIG. 6 is a configuration diagram of an electronic device according to an embodiment of the present disclosure. Hereinafter, specifically, as shown in FIG. 6, a configuration diagram of an electronic device 500 for realizing an embodiment of the present disclosure is shown. The electronic device 500 in the embodiment of the present disclosure may include, for example, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers, but is not limited thereto. The electronic device as shown in FIG. 6 is merely one example and does not limit the functions and usage ranges of the embodiments of the present disclosure.

[0087] As shown in FIG. 6, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 501 that can execute various appropriate operations and processes based on a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic device 500 are further stored. The processing device 501, the ROM 502, and the RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0088] Generally, the I / O interface 505 may be connected to an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc., an output device 507 including, for example, a liquid crystal display (LCD), a speaker, an oscillator, etc., a storage device 508 including, for example, a magnetic tape, a hard disk, etc., and a communication device 509. The communication device 509 enables the electronic device 500 to perform wireless or wired communication with other devices and exchange data. FIG. 6 shows the electronic device 500 equipped with various devices, but it should be understood that it is not required to implement or include all the shown devices. Alternatively, more or fewer devices may be implemented or included.

[0089] In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowchart may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program including program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network by the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, it executes the above-described functions limited to the scanning data processing method of the embodiments of the present disclosure.

[0090] It should be noted that the computer-readable medium of the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above, but is not limited thereto. More specific examples of the computer-readable storage medium may include an electrical connection having one or more conductors, a portable computer magnetic disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact magnetic disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above, but is not limited thereto. In the present disclosure, the computer-readable storage medium may be any tangible medium that includes or stores a program, and the program may be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, and the data signal carries computer-readable program code. Such a propagated data signal may take various forms, including electromagnetic signals, optical signals, or any suitable combination of the above, but is not limited thereto. The computer-readable signal medium may be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium may be used to transmit, propagate, or transmit a program used by or in conjunction with an instruction execution system, apparatus, or device. The program code included in the computer-readable medium may be transmitted by any suitable medium, which may include conductive wires, optical fiber cables, RF (radio frequency), etc., or any combination of the above, but is not limited thereto.

[0091] In some embodiments, on the client side, the server can communicate using any currently known or future-developed network protocol, such as HTTP (Hyper Text Transfer Protocol), and can communicate with digital data in any form or medium (e.g., a communication network) and be connected to each other. Examples of communication networks include local area networks ("LANs"), wide area networks ("WANs"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), and include any currently known or future-developed network.

[0092] The computer-readable medium may be included in the electronic device, may not be disposed in the electronic device, and may exist individually.

[0093] One or more programs are carried on the computer-readable medium. When the one or more programs are executed by the electronic device, the electronic device receives user information during the video playback process and displays a trigger operation, obtains at least two target pieces of information related to the video, and displays the first target piece of information among the at least two target pieces of information in the information display area of the video playback page. Here, the size of the information display area is smaller than the size of the playback page. The electronic device receives a first switching trigger operation from the user and switches the first target piece of information displayed in the information display area to the second target piece of information among the at least two target pieces of information.

[0094] The computer program code for performing the operations of the present disclosure may be created in one or more programming languages or combinations thereof, including object-oriented programming languages such as the above-mentioned programming languages, Java, Smalltalk, C++, and further including conventional procedural programming languages such as the "C" language or similar programming languages, but not limited thereto. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as one independent software package, partially on the user's computer and partially on a remote computer, or executed entirely on a remote computer or server. When a remote computer is involved, the remote computer can be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, connected via the Internet using an Internet service provider).

[0095] The flowcharts and block diagrams in the drawings illustrate the possible system architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program section, or a portion of code, and the module, program section, or portion of code includes one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions appended to the blocks may occur in an order different from the order appended to the drawings. For example, two consecutively shown blocks may actually be executed basically in parallel or in the reverse order, depending on the related functions. It should be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware system for performing a specified function or operation, or may be implemented by a combination of dedicated hardware and computer instructions.

[0096] The units described in the embodiments of the present disclosure may be implemented in the form of software or in the form of hardware. Here, the name of the unit does not limit the unit itself in some cases.

[0097] The functions described in the above content in this specification may be executed at least partially by one or more hardware logic devices. For example, without limitation, exemplary types of available hardware logic members include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0098] In the context of the present disclosure, a machine-readable medium may be a tangible medium that includes, or stores, a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, electronics, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any combination of the foregoing. More specific examples of the machine-readable storage medium include electrical connections by one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0099] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, a processor, and a memory for storing executable instructions of the processor, wherein the processor is configured to read the executable instructions from the memory and execute the instructions to implement any one of the scanning data processing methods according to the present disclosure.

[0100] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is for executing any one of the scanning data processing methods according to the present disclosure.

[0101] It should be noted that in this specification, relative terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the technical terms "comprising", "including" or any other variation thereof cover non-exclusive "including", so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or further includes elements specific to such a process, method, article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of further identical elements in the process, method, article or device comprising the said element.

[0102] The above content is merely an embodiment of the present disclosure and is for those skilled in the art to understand or implement the present disclosure. Multiple modifications of these examples can be easily realized by those skilled in the art, and the general principles defined in this specification can be implemented in other examples without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure should be adapted to the broadest scope consistent with the principles and novel features disclosed herein, without being limited to these examples shown in this specification.

Industrial Applicability

[0103] The method for processing scanning data disclosed in the present disclosure enables accurate positioning of the relative positions between the scanning rods by determining the conversion relationship of the target position based on the preset distribution true value of the auxiliary feature points and the three-dimensional coordinate points calculated by scanning, improves the data processing efficiency and accuracy in the case of intraoral scanning, and has very high industrial applicability.

Claims

1. A scanning data processing method, comprising: obtaining processing target images of a plurality of frames, wherein the processing target image of each frame includes auxiliary feature points installed on an intraoral scanning rod, the auxiliary feature points have corresponding distribution true values, and the distribution true values are true value coordinate points of the preset auxiliary feature points; performing processing based on the processing target images of the plurality of frames to obtain three-dimensional coordinate points of the auxiliary feature points in the same coordinate system; performing measurement processing on the three-dimensional coordinate points of the auxiliary feature points to obtain target three-dimensional coordinate points; determining a conversion relationship of a target position based on the target three-dimensional coordinate points and the distribution true values.

2. The step of performing processing based on the processing target images of the plurality of frames to obtain three-dimensional coordinate points of the auxiliary feature points in the same coordinate system includes: obtaining two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame; calculating based on a predetermined internal parameter matrix and the two-dimensional coordinate points to obtain three-dimensional coordinate points of the processing target image of each frame; stitching the three-dimensional coordinate points of the processing target image of each frame to obtain three-dimensional coordinate points of the auxiliary feature points in the same coordinate system. The scanning data processing method according to claim 1, characterized by the above.

3. The step of performing processing based on the processing target images of the plurality of frames to obtain three-dimensional coordinate points of the auxiliary feature points in the same coordinate system includes: obtaining two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame; calculating based on the two-dimensional coordinate points and the relative positions of two cameras and the two-dimensional coordinate points to obtain three-dimensional coordinate points of the processing target image of each frame; stitching the three-dimensional coordinate points of the processing target image of each frame to obtain three-dimensional coordinate points of the auxiliary feature points in the same coordinate system. The scanning data processing method according to claim 1, characterized by the above.

4. The step of performing measurement processing on the three-dimensional coordinate points of the auxiliary feature points to obtain target three-dimensional coordinate points includes: projecting each of the three-dimensional coordinate points into an image coordinate system to obtain two-dimensional pixel coordinate points; when the Euclidean distance between the two-dimensional pixel coordinate points and the two-dimensional coordinate points corresponding to the three-dimensional coordinate points is the smallest, using the three-dimensional coordinate points as the target three-dimensional coordinate points. The scanning data processing method according to claim 1, characterized by the above.

5. Determining the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true value includes: Calculating based on a predetermined scale factor, the target three-dimensional coordinate points, and the distribution true value to obtain the conversion relationship of the initial position; and Performing an optimization calculation on the scale factor, the target three-dimensional coordinate points, the distribution true value, and the conversion relationship of the initial position based on a predetermined optimization mathematical formula to obtain an optimization value; and During the optimization iteration process, adjusting the conversion relationship between the scale factor and the initial position, and obtaining the conversion relationship of the initial position corresponding when the optimization value is smaller than a predetermined threshold value as the conversion relationship of the target position. The scanning data processing method according to claim 1 is characterized by the above.

6. Obtaining the processing target images of multiple frames including auxiliary feature points includes: Controlling the scanning device to rotate according to a predetermined direction and scan the target oral cavity including a scanning rod according to a predetermined frequency, and obtaining the processing target images of the multiple frames. The scanning data processing method according to claim 1 is characterized by the above.

7. A scanning data processing device, comprising: An image acquisition unit for acquiring processing target images of multiple frames, wherein the processing target image of each frame includes auxiliary feature points installed on an intraoral scanning rod, the auxiliary feature points have corresponding distribution true values, and the distribution true value is the true coordinate point of the preset auxiliary feature point. An image acquisition unit; An image processing unit for performing processing based on the processing target images of the multiple frames and obtaining all three-dimensional coordinate points in the same coordinate system; A measurement processing unit for performing measurement processing on all the three-dimensional coordinate points to obtain target three-dimensional coordinate points; A determination unit for determining the conversion relationship of the target position based on the target three-dimensional coordinate points and the distribution true value. The scanning data processing device is characterized by the above.

8. Specifically, the image processing unit: Obtains the two-dimensional coordinate points of the auxiliary feature points in the processing target image of each frame; Calculates based on a predetermined internal parameter matrix, the camera pose of the current frame, and the two-dimensional coordinate points to obtain the three-dimensional coordinate points of the processing target image of each frame; Is used for stitching the three-dimensional coordinate points of the processing target image of each frame to obtain all the three-dimensional coordinate points. The scanning data processing device according to claim 7 is characterized by the above.

9. An electronic device, a processor, and a memory for storing instructions executable by the processor, the instructions being for implementing the scanning data processing method according to claim 1, wherein the processor reads instructions from the memory and executes the instructions to implement the scanning data processing method according to claim 1, characterized in that it is an electronic device.

10. A non-volatile computer-readable storage medium, in which a computer program is stored, the computer program being for executing the scanning data processing method according to claim 1, characterized in that it is a computer-readable storage medium.

11. Performing measurement processing on the three-dimensional coordinate points of the auxiliary feature points to obtain target three-dimensional coordinate points includes obtaining an image of the Nth frame in which the three-dimensional coordinate points appear, obtaining two-dimensional coordinate points of the image of the Nth frame, and determining target three-dimensional coordinate points based on the distance between the two-dimensional pixel coordinate points projected by the three-dimensional coordinate points and the two-dimensional coordinate points, characterized in that it is the scanning data processing method according to claim 1.

12. A plurality of intraoral scanning rods are attached to the target oral cavity, the intraoral scanning rods include a scanning rod component connected to the implant body and an auxiliary component connected to the scanning rod component, auxiliary feature points are provided on the intraoral scanning rods, the auxiliary feature points are continuously distributed on the scanning rod and / or the auxiliary component, and the auxiliary feature points are not distributed on one side of the scanning rod and / or the auxiliary component, characterized in that it is the scanning data processing method according to claim 6.

13. Obtaining initial three-dimensional data of the target oral cavity based on the plurality of frames of images, the initial three-dimensional data including an initial point set of the target oral cavity and three-dimensional coordinate measurement values of the auxiliary feature points in the same coordinate system, and the target oral cavity is an oral cavity that needs to be scanned inside the mouth for dental implant treatment, obtaining a preset model of the intraoral scanning rod, the preset model of the intraoral scanning rod including true three-dimensional coordinates of the auxiliary feature points and a real point set of the intraoral scanning rod in the same coordinate system, and the real point set includes true three-dimensional coordinates of each point, Performing stitching on the initial point set of the target oral cavity and the real point set of the intraoral scanning rod based on the correspondence between the true values of the auxiliary feature points and the three-dimensional coordinate measurement values, Determining the positioning information of the intraoral scanning rod based on the stitched real point set of the intraoral scanning rod, wherein the positioning information of the intraoral scanning rod is for indicating the positioning information of the implant body so that the designed and manufactured tooth body can be appropriately attached to the implant body. The scanning data processing method according to claim 1, characterized by including this.

Images