How to be sure that global registration using RANSAC aligns data correctly?

[halil-karabacak]

Question is mainly on the title. So far, I have checked rmse and correspondence values; however, there are some cases when even these two values pass my threshold value, but in reality they just fail and align the data wrongly. What are your suggestions? Are there any other methods that I can check if my alignment/ registration works as expected?

Thanks.