Method and system for generating a three-dimensional scan of an object

A system for generating a three-dimensional (3D ) scan of an object, the system comprising:

• a handheld scanner operable to generate images of the object from a successive plurality of handheld scanner positions with respect to the object;
• a processor circuit operably configured to:
• process the images to generate a respective 3D frame for each of the plurality of handheld scanner positions, each 3D frame including data representing locations of a plurality of 3D points on a surface of the object;
• designate at least one preceding 3D frame as a reference frame;
• compare each successive 3D frame with at least one preceding 3D frame;
• determine whether a result of the comparison meets a correspondence criterion associated with generation of a 3D representation of the surface of the object;
• and
• initiate a recovery process when the correspondence criterion is not met by:
• comparing a subsequent 3D frame with a 3D frame preceding the 3D frame that caused initiation of the recovery process;
• and
• if a result of the comparison does not meet the correspondence criterion, comparing at least one of the subsequent 3D frame and the 3D frame that caused initiation of the recovery process with the reference frame and causing the scan of the object to resume if a result of the comparison with the reference frame meets the correspondence criterion.