Intraoral scanner with dental diagnostics capabilities

A method of forming a three-dimensional (3D) volumetric model of a subject's teeth, the method comprising the steps of:

• receiving a plurality of infrared (IR) images of the subject's teeth wherein the plural of IR images are taken with a camera as the camera is moved over the subject's teeth;
• determining a location and orientation of the camera relative to the subject's teeth for each of the plurality of IR images;
• generating, for each point in a volume comprising a 3D grid of points corresponding to a volume of the subject's teeth, a density comprising a scattering coefficient that is based on the plurality of IR images and the location and orientation of the camera relative to the subject's teeth;
• forming a 3D volumetric model of the subject's teeth from the densities;
• forming one or more iso-surfaces from the densities;
• and
• outputting the 3D volumetric model of the subject's teeth.