Image registration of intraoral images using ink markings

A system comprising:

• an intraoral scanner configured to generate intraoral scan data comprising a plurality of intraoral images of a dental site, each intraoral image of the plurality of intraoral images comprising optically-captured three-dimensional structures of the dental site;
• and
• a computing device operatively coupled to the intraoral scanner, the computing device to:
• receive the intraoral scan data comprising the plurality of intraoral images of the dental site generated during scanning of the dental site by the intraoral scanner, a plurality of ink markings each comprising a pattern of ink having been directly applied onto a gingival surface at the dental site prior to the scanning of the dental site, wherein at least two intraoral images of the plurality of intraoral images comprise representations of one or more ink markings of the plurality of ink markings;
• perform registration between the plurality of intraoral images based at least on part on the one or more ink markings;
• generate a three-dimensional (3D) model of the dental site using the plurality of intraoral images that have undergone registration;
• and
• output the 3D model to a display.