Abstract: A system for generating a point cloud map of one or more objects in real-world environment. The system including data acquisition device for acquiring plurality of data points representing objects, wherein data acquisition device is configured to acquire first set of data points for objects from first position to generate first point cloud, and acquire second set of data points for objects from second position to generate second point cloud, a server arrangement including a receiving module configured to receive first point cloud and second point cloud, registration module to register received first point cloud and received second point cloud to generate a point cloud pair which is aligned and data processing module to determine quality score for generated point cloud pair, compare determined quality score with predefined threshold value, and generate point cloud map if determined quality score is less than a predefined threshold value.