Abstract: We introduce a novel method for approximate alignment of point-based surfaces. Our approach is based on detecting a set of salient feature points using a scale-space representation. For each feature point we compute a signature vector that is approximately invariant under rigid transformations. We use the extracted signed feature set in order to obtain approximate alignment of two surfaces. We apply our method for the automatic alignment of multiple scans using both scan-to-scan and scan-to-model matching capabilities.