A combined solution is proposed for solving the point-plane variational problem in a closed-form based on fusion visual features and 3d point clouds. An accurate method for reconstructing 3d scene is introduced, and the closed-form solutions of registration task for orthogonal transformation are presented. This method is used to reconstruct a threedimensional model of the environment from a set of images and depth map. The given method is used to match and register point clouds with an arbitrary spatial resolution and an arbitrary scale with respect to each other. The suggested method improves the convergence and accuracy of reconstruction methods for dynamic, bulky scenes.