1. A registration algorithm to process 3D laser radar data sets using a computing device to map obscured objects based on fine adjustments to the 3D data registration, comprising: defining fiducials based on an imaged reference point identifiable in each data set; using the fiducials as anchor points to create a digital mapping relating two or more data sets; and defining a three-dimensional linear shift vector for each data voxel to allow fine adjustments to the 3D data registration and improve target-identification of an obscured target, wherein said fine adjustments to the 3D data registration are based on fiducial perturbation without having to shift data sets relative to each other with respect to various degrees of freedom.