A method for acquiring and updating a 3-D dentition surface acquires a succession of 3-D image frames of the dentition from different points of view using a 3-D scanning device. For each individual acquired 3-D image frame, one or more spatial relationships to other acquired 3-D image frames is identified according to relative distance and overlap between the individual and other acquired 3-D image frames. The 3-D surface of the dentition is formed and updated using a matching algorithm that aggregates image content from the 3-D image frames according to the one or more spatial relationships and according to overlap and distance of each 3-D image frame relative to the 3-D surface of the dentition. A subset of the succession of 3-D image frames having reduced data redundancy is selected, based on spatial relationships. A pose of the 3-D surface is rendered and displayed according to the selected subset.
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