1. A method, comprising: receiving, at a computing device configured to control a vehicle, from a light detection and ranging (LIDAR) device coupled to the vehicle, LIDAR-based information comprising a three-dimensional (3D) point cloud, wherein the 3D point cloud comprises points corresponding to light emitted from the LIDAR device and reflected from a surface of a road on which the vehicle is travelling and from one or more obstacles on the road, wherein the computing device has access to a reference 3D point cloud of the surface of the road, and wherein the reference 3D point cloud and the 3D point cloud are misaligned; determining, using the computing device, a planar feature in the 3D point cloud, and a corresponding planar feature in the reference 3D point cloud; determining, based on a comparison of the planar feature to the corresponding planar feature, a transform; and applying the transform to points of the 3D point cloud or points of the reference 3D point cloud so as to align the 3D point cloud with the reference 3D point cloud.