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There´s a multitude of possibilities for doing what you want, but be aware that what you describe is a pretty hard problem with no solution being available that really works out of the box under all circumstances. You can just try simple PCL based registration as suggested by @TheWumpus , you can run a VSLAM approach like ethzasl_ptam or more RGB-D focused approaches like FOVIS, ccny_rgbd and RGBD SLAM. Another option is adapting the PCL Kinfu implementation. All those will show varying performance depending on amount of features visible, shape of the environment, speed of sensor movement and other factors of course.