A computer-implemented point-cloud data acquisitioning method for acquiring point-cloud data of the inside of a mining equipment. The method includes the step of acquiring from a sensor, a first dataset and a second dataset, wherein each dataset includes datapoints at coordinates. The method extracts features from the first and second dataset and aligns the first and second dataset using the extracted features. The first and second dataset are aligned into a point-cloud data. The geometry of the mining equipment is estimated based on the point-cloud data and the point-cloud data is used to identify a region of the estimated geometry indicating insufficient data.