This was preliminary work to investigate the automatic alignment of partial range views of a scene. The ICP registration algorithm of a cloud of 3D points based on Zhang's approach was investigated. We studied the robustness of this method with respect to the initial guess on the successive sensor positions in the church. The results of an experiment can be seen in the figure below, with the left image showing the 2 initial partially aligned datasets and the right image showing the resulting alignment. The next step in this work is to use segmentation characteristics of the images obtained by the work of Sappa and also other options during the registration process.