Bachelor thesis presents the process of registration of 3D point clouds obtained by the usage of scanners, as well as creation of the virtual form of 3D objects by means of aligned sets of points. The object of research of our work was Point Cloud Library, mainly its functions aimed at registration, searching for optimal transformation, identifying correspondences and visualization. The goal of the work was explaining each step of the registration process, creating model situations, designing process of finding optimal rotation, translation and comparing registration quality, alternatively its parts, by changing parameters contributing to aligning process.