1. A method for registering data, wherein the data have three dimensions, comprising the steps of: selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least one plane, at least one point, and a third primitive that is either a point or a plane; selecting a second set of primitives from the data in a second coordinate system, wherein the second set of primitives includes at least one plane, at least one point, and a third primitive corresponding to the third primitive in the first set of primitives; and registering, in the first and second set of primitives, planes with each other and points with each other to obtain registered primitives.