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The paper concerns the results related with GPGPU computing applied for mobile robotics applications. The scalable implementation of the point to point and point to plane 3D data registration methods with an improvement based on regular grid decomposition is shown. 3D data is delivered by mobile robot equipped with 3D laser measurement system for INDOOR environments. Presented empirical analysis of the implementation shows the On-Line computation capability using modern graphic processor unitdoi:10.15676/ijeei.2012.4.1.2 fatcat:ul6q2g3aefdtvhbttplfgjloym