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Hi, you problem is called scan matching or point cloud registration and is a well known problem in robotics. In applications as yours typically an initial guess at which location the laser scan was located is available (the pose from the last time step, odometry data, ...) . So you can also use the most used algorithm, ICP or variants of it (see here, here and here ).
An implementation of ICP (GICP) from pointcloud library can be found here and a full scan matching component from ROS here.
If you have no initial guess the problem is much harder, one solution then be the algorithm presented in this video
