The aim of the research is a 3D point matching which uses models from different sources to union them in the general coordinate system to create a high-accuracy scene from the 3D scanner. There are several images from the stereo camera (dual optical camera) at the device output to construct a 3D high-resolution model with 360 degrees horizontal field of view. There is a high-accuracy point cloud from the LIDAR module (laser rangefinder) to correct the full field view from the stereo camera. The

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... research process is called point cloud registration and will help to create an output 3D representation with advantages of both sources. The presented algorithm has low computational complexity and,in the future, will be implemented on the scanner embedded system. The results of the data processing are presented in this paper.