The invention relates to a method for more effectively capturing the three-dimensional surface geometry of objects, particularly for teeth and/or intraoral structures, such as when a scanning processing is interrupted. Depth images are created in which the spatial relationships of points of the depth images to one another remain constant, but an overall spatial orientation of each new depth image is different. Points of the depth image that fulfill a first attribute is verified for every pose. The number of points that have this attribute is then counted. The pose that accordingly has the highest count is thus chosen, and an artificial depth image is then generated, in which the ascertained pose is applied “backwards” to create an artificial depth image. The real new depth image can then be transferred into the artificial depth image in order to create a new pose, which may then be verified by computation.