1. A method, comprising: receiving, by a system comprising a processor, three dimensional data for a plurality of three dimensional scenes, the three dimensional data comprising geometric information for features respectively included in the three dimensional scenes; generating, by the system, a plurality of alignment schemes between two or more of the plurality of three dimensional scenes based on the three dimensional data using a spatial transformation; evaluating, by the system, the plurality of alignment schemes based on quality of alignment of the two or more of the plurality of three dimensional scenes as aligned with respect to each of the plurality of alignment schemes; and selecting, by the system, an alignment scheme of the plurality of alignment schemes associated with a higher quality of alignment with respect to other alignment schemes of the plurality of alignment schemes.