Computer implemented methods and computerized apparatus for posture, dimension and shape measurements of at least one 3D object in a scanned 3D scene are provided. The method comprises receiving a point cloud and performs 3D geometric feature extraction. In one embodiment, the 3D geometric feature extraction is based on a 3D hybrid voxel-point structure, which comprises a hybrid voxel-point based normal estimation, a hybrid voxel-point based plane segmentation, a voxel-based geometric filtering, a voxel-based edge detection and a hybrid voxel-point based line extraction. Through the process of 3D geometric feature extraction, the geometric features are then passed to the geometric-based dimension and shape measurements for various applications. After 3D geometric feature extraction, a further process of feature-based object alignment is performed. According to one embodiment of the present invention, using the exact lines extracted from the 3D geometric feature extraction, the computerized apparatus generates line-to-line (L2L) pair features for each identified object in the 3D scene. The L2L pair features in turn is used for aligning the identified 3D objects with target 3D objects.