A system, method, and computer program product for performing pan-oral imaging. A plurality of data points are generated which are representative of spatial positions of an actual dentition of a patient with respect to a defined spatial coordinate system. A fitted curve through at least a portion of the spatial positions of the dentition is computed using the plurality of data points. A pan-oral image acquisition trajectory is then computed with respect to a defined spatial coordinate system using the fitted curve. A pan-oral image of the dentition is then acquired along the pan-oral image acquisition trajectory.