Scanning system and calibration thereof

A non-calibrated intraoral scanning system to be modified to a calibrated intraoral scanning system based on generating a three-dimensional (3D) representation of a calibration object, comprising:

• an intraoral imaging apparatus, comprising:
• a light source configured to emit light, wherein the intraoral imaging apparatus is to transmit the light onto the calibration object;
• and
• an image sensor comprising a plurality of sensor elements, wherein the image sensor is to form a sequence of images of the calibration object, each image comprising a plurality of pixels;
• and
• a processor to perform a calibration of the non-calibrated intraoral scanning system, wherein the processor is to:
• import a reference 3D representation of the calibration object in a real-world coordinate system;
• transform, using one or more transformations, at least a set of the pixels from each image of the sequence of images to a dataset of coordinates of the calibration object in a real-world coordinate system;
• align the dataset of coordinates of the calibration object in the real-world coordinate system to the reference 3D representation of the calibration object in the real-world coordinate system;
• derive a difference between the dataset of coordinates of the calibration object and the reference 3D representation of the calibration object in the real-world coordinate system;
• and
• modify, based on the difference, at least one of the one or more transformations such that a location of one or more points in the dataset of coordinates of the calibration object in the real-world coordinate system is adjusted in three dimensions, wherein the non-calibrated intraoral scanning system is modified to a calibrated intraoral scanning system.