Bathymetric LiDAR and multibeam echo-sounding data registration methodology employing a point cloud model

•Realize the full coverage and integration mapping of seabed topography by fusing the ALB and MBES point cloud data.•The azimuth angle features and curvature feature are used to find the corresponding feature points from the source and target point cloud data.•The edge key feature points are extracted to reduce the influence of inconsistent density in multisource data and gaps in the data on registration.•The registration accuracy is improved compared to the results obtained with the traditional curvature-based registration (CR) algorithm.