In-time registration of temporally separated images acquired with image acquisition system having three dimensional sensor

A system comprising:

• at least one 3D image acquisition subsystem respectively having 3D sensors;
• a data storage subsystem including at least a memory that stores instructions for processing 3D images;
• a processor, coupled to the data storage subsystem, that executes the instructions stored in the memory for causing the processor to:
• store and retrieve three-dimensional (3D) images of portions of a living subject, the stored 3D images including a first 3D image corresponding to a prior subject location and a prior acquisition location at a prior acquisition time;
• measure a live 3D position that acquires 3D data of the living subject with the at least one image acquisition system when positioned away from the living subject, the live 3D position corresponding to a real-time relative 3D offset between a present subject location and a present acquisition location computed from real-time 3D point cloud data of a surface of the living subject;
• retrieving guide position information determined from the first 3D image corresponding to a relative 3D offset between the prior subject location and the prior acquisition location computed as a function of 3D point cloud data of the surface of the living subject acquired by the at least one image acquisition subsystem at the prior acquisition time;
• wherein the live 3D position corresponds to a real-time relative 3D offset between a present subject location and a present acquisition location computed from real-time 3D point cloud data of the surface of the living subject being acquired by the at least one image acquisition system;
• display in a viewfinder window of the at least one image acquisition system, a live view being acquired of the portion of the living subject in real time;
• display the guide position information on the viewfinder window during the displaying of the live view, wherein the guide position information informs a user of a real-time positional offset between the live view and the first stored 3D image and that includes at least one of a three-dimensional mesh and key feature points, wherein the three dimensional mesh is implemented as a 3D point cloud generated from the stored 3D image and the key feature points are generated from 3D point cloud data of the first 3D image, the guide position information being displayed on the viewfinder window to be visually correlated with the live view for assisting in real time positioning of the at least one image acquisition system displaying the live 3D image in the viewfinder window to achieve in-time registration of the live view with the guide position information;
• and
• acquiring a present 3D image of the live view portion of the living subject with the at least one image acquisition system.