State of art approaches for localization and mapping is based on local features in images. Along with this, modern augmented and mixed reality devices allow building a mesh of the surrounding space. Using this mesh map, we can solve the problem of cross-device localization. This approach is independent of the type of feature descriptors and SLAM used onboard the AR / MR device. The mesh could be reduced to the points cloud, which takes only vertices. We propose the approach for co-localization of AR / MR devices using point clouds which do not depend on algorithms onboard the device. We analyzed various algorithms for registering point clouds and discuss of it limitation for the co-localization problem.