Point cloud Xi P={P1,,PN,},pi= ER3 Zi 3D scanners A set of data points in some coordinate system𝒫 = {𝒑1, … , 𝒑𝑁𝑣 }, 𝒑𝑖 = 𝑥𝑖 𝑦𝑖 𝑧𝑖 ∈ ℛ3 A set of data points in some coordinate system 3D scanners