Abstract: Described herein are systems and methods for point cloud alignment with a floor plan or a video stream of an environment. The systems and method comprise overlaying a graphical representation of a point cloud onto an image of the floor plan and the video stream. The systems and methods further comprise aligning the graphical representation of the point cloud and the image of the floor plan with the video stream using a point alignment. The systems and methods further comprise displaying an update of the graphical representation based at least in part on a further point alignment or a movement alignment.