A method of determining a registration between Scanworlds may include determining a first viewpoint of a setting (100) based on first point data of a first Scanworld. The first Scanworld may include information about the setting (100) as taken by a first laser scanner (102a) at a first location (104a). The method may further include determining a second viewpoint of the setting (100) based on second point data of a second Scanworld. The second Scanworld may include information about the setting (100) as taken by a second laser scanner (102b) at a second location (104b). The method may further include generating a first rectified image based on the first viewpoint and generating a second rectified image based on the second viewpoint. Additionally, the method may include determining a registration between the first Scanworld and the second Scanworld based on the first viewpoint and the second viewpoint.
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