A computer-implemented method comprising: receiving, by a processing device, a plurality of intraoral images of a dental site during an intraoral scan session; registering, by the processing device, intraoral images of the plurality of intraoral images to other intraoral images of the plurality of intraoral images that overlap with each other using first registration criteria comprising at least one of a first threshold number of overlapping features or a first deviation threshold; determining, by the processing device, that a first intraoral image of the plurality of intraoral images does not satisfy the first registration criteria with regards to registration of the first intraoral image to any other intraoral image of the plurality of intraoral images; determining, by the processing device, that a historical template of the dental site is existent, wherein the historical template is a virtual model of the dental site as generated from additional intraoral images taken during a previous intraoral scan session; and registering, by the processing device, the first intraoral image to one or more remaining intraoral images of the plurality of intraoral images according to registration of the first intraoral image and the one or more remaining intraoral images to the historical template using second registration criteria comprising at least one of a second threshold number of overlapping features or a second deviation threshold, wherein the first intraoral image is associated with a first region of the dental site that does not overlap with a second region of the dental site associated with the one or more remaining intraoral images. receiving, by a processing device, a plurality of intraoral images of a dental site during an intraoral scan session; registering, by the processing device, intraoral images of the plurality of intraoral images to other intraoral images of the plurality of intraoral images that overlap with each other using first registration criteria comprising at least one of a first threshold number of overlapping features or a first deviation threshold; determining, by the processing device, that a first intraoral image of the plurality of intraoral images does not satisfy the first registration criteria with regards to registration of the first intraoral image to any other intraoral image of the plurality of intraoral images; determining, by the processing device, that a historical template of the dental site is existent, wherein the historical template is a virtual model of the dental site as generated from additional intraoral images taken during a previous intraoral scan session; and registering, by the processing device, the first intraoral image to one or more remaining intraoral images of the plurality of intraoral images according to registration of the first intraoral image and the one or more remaining intraoral images to the historical template using second registration criteria comprising at least one of a second threshold number of overlapping features or a second deviation threshold, wherein the first intraoral image is associated with a first region of the dental site that does not overlap with a second region of the dental site associated with the one or more remaining intraoral images.