Point cloud matching involves determining precise connections between two or more sets of data that are collected at different points in time, from different angles or from different platforms or sensors. Matching of point cloud is challenging because it has an enormous amount of points, and the coordinate system can vary in terms of translation, 3D rotation, and scale.

A point cloud is a set of data points in space. Point clouds are generally produced by 3D scanners, which measure a large number of points on the external surfaces of objects around them. Data captured with mobile mapping systems with several runs of same street or same place results with displaced point clouds. In order to have registered point cloud and pictures it is necessary to perform point cloud and picture matching.