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Time-of-Flight (ToF) camera has become an attractive source of applications in location-based services, autonomous navigation, object localization for robotic manipulation, ego-motion estimation, etc. Besides, these services demand centimeter level accuracy to provide the required services. Though ToF cameras can provide high accuracy in location-based services with high frame rates (approx. 30 fps), they are facing some problems like multipath interference (MPI), internal scattering, motion blur, etc. The interferences inherent to ToF camera can influence the measurements by several centimeters. In this paper, we formulate a model to mitigate MPI and light scattering problems through a combination of scale-invariant feature transform (SIFT) and iterative closest point (ICP). We use SIFT algorithm for image features extraction and ICP for error correction during estimation. Finally, we present simulation results to …