Hi Jon, Thanks for the help and heads up, I didn't think of that. I will try to modify the max correspondence distance and see if that helps, Paul -- View this message in context: http://ros-users.122217.n3.nabble.com/ICP-PCL-with-foreign-data-tp2066643p2067011.html Sent from the ROS-Users mailing list archive at Nabble.com.