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In this paper, a framework for adjusting mobile laser scanning point cloud data to improve the accuracy is proposed by integrating high resolution UAV images and MLS. First, aerial triangulated images with a few high accuracy ground control points are taken as control information. Then, a hierarchical strategy is proposed for robust pairwise registration of feature points between point cloud and images, so as to find the deviation of the point cloud. In the next step, a shape-preservingdoi:10.5194/isprsarchives-xl-1-w4-41-2015 fatcat:miyfp4zcp5dadgla2qqywk7s4u