diff --git a/include/RegistrationTools.h b/include/RegistrationTools.h
index beaa467..dc716f6 100644
--- a/include/RegistrationTools.h
+++ b/include/RegistrationTools.h
@@ -161,6 +161,8 @@ namespace CCCoreLib
 				, minRMSDecrease(1.0e-5)
 				, nbMaxIterations(20)
 				, adjustScale(false)
+				, minScale(std::numeric_limits<double>::quiet_NaN())
+				, maxScale(std::numeric_limits<double>::quiet_NaN())
 				, filterOutFarthestPoints(false)
 				, samplingLimit(50000)
 				, finalOverlapRatio(1.0)
@@ -185,6 +187,12 @@ namespace CCCoreLib
 			//! Whether to release the scale parameter during the registration procedure or not
 			bool adjustScale;
 
+			//! Min scale (if adjustScale is true - NaN if no minimum boundary)
+			double minScale;
+
+			//! Max scale (if adjustScale is true - NaN if no maximum boundary)
+			double maxScale;
+
 			//! If true, the algorithm will automatically ignore farthest points from the reference, for better convergence
 			bool filterOutFarthestPoints;
 
diff --git a/src/RegistrationTools.cpp b/src/RegistrationTools.cpp
index 79ff8e5..b74c0e4 100644
--- a/src/RegistrationTools.cpp
+++ b/src/RegistrationTools.cpp
@@ -811,8 +811,18 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register(	GenericIndexed
 
 				if (params.adjustScale)
 				{
-					transform.s *= currentTrans.s;
-					transform.T *= currentTrans.s;
+					double newScale = transform.s * currentTrans.s;
+					if (std::isfinite(params.minScale))
+					{
+						newScale = std::max(newScale, params.minScale);
+					}
+					if (std::isfinite(params.maxScale))
+					{
+						newScale = std::min(newScale, params.maxScale);
+					}
+
+					transform.T *= (newScale / transform.s);
+					transform.s = newScale;
 				}
 
 				transform.T += currentTrans.T;