In recent years the interest in 3D coordinate data capture has seen rapid growth in a variety of communities. The vast potential of digital representation of objects is being recognized on a global scale and has given rise to the popularity of point cloud data (PCD). These collections of 3D points provide a dense and accurate means for quickly capturing the 3D geometry of objects in a digital environment. However, along with the vast potential of PCD come numerous research challenges, one of which is point cloud registration. In this book, mathematical concepts are developed and described for...