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A basic 4D imaging system to capture the jaw motion has been developed that produces high resolution 3D surface data. Fluorescent microspheres are brushed onto the areas of the upper and the lower arches to be imaged, producing a high-contrast random optical pattern. A hand-held imaging device operated at about 10 cm from the mouth captures time-based perspective images of the fluorescent areas. Each set of images, containing both upper and the lower arch data, is converted to a 3d point mesh using photogrammetry, thereby providing an instantaneous relative jaw position. Eight 3d positions per second are captured. Using one of the 3d frames as a reference, incremental transforms are derived to express the free body motion of the mandible. Conventional 3d models of the dentition are directly registered to the reference frame, allowing them to be animated using the derived transforms.