diff --git a/apps/multi_session_registration/multi_session_registration.cpp b/apps/multi_session_registration/multi_session_registration.cpp
index f613f3fe..b19e8f63 100644
--- a/apps/multi_session_registration/multi_session_registration.cpp
+++ b/apps/multi_session_registration/multi_session_registration.cpp
@@ -70,7 +70,7 @@ static const std::vector<ShortcutEntry> appShortcuts = { { "Normal keys", "A", "
                                                          { "", "F", "" },
                                                          { "", "Ctrl+F", "" },
                                                          { "", "G", "" },
-                                                         { "", "Ctrl+G", "" },
+                                                         { "", "Ctrl+G", "Move center of rotation to gizmo" },
                                                          { "", "H", "" },
                                                          { "", "Ctrl+H", "" },
                                                          { "", "I", "" },
@@ -135,8 +135,8 @@ static const std::vector<ShortcutEntry> appShortcuts = { { "Normal keys", "A", "
                                                          { "", "Shift + scroll", "" },
                                                          { "", "Shift + drag", "" },
                                                          { "", "Ctrl + left click", "" },
-                                                         { "", "Ctrl + right click", "" },
-                                                         { "", "Ctrl + middle click", "" } };
+                                                         { "", "Ctrl + right click", "change center of rotation" },
+                                                         { "", "Ctrl + middle click", "change center of rotation" } };
 
 float m_gizmo[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };
 
@@ -2179,8 +2179,8 @@ void settings_gui()
                     }
 
                     // set rotation center to gizmo
-                    const auto& session = sessions[index_gizmo];
-                    if (session.point_clouds_container.point_clouds.size() > 0)
+                    if (index_gizmo >= 0 && index_gizmo < sessions.size() &&
+                        sessions[index_gizmo].point_clouds_container.point_clouds.size() > 0)
                     {
                         setNewRotationCenter(sessions[index_gizmo].point_clouds_container.point_clouds[0].m_pose.translation());
                     }
@@ -2987,6 +2987,20 @@ void display()
         if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_M, false))
             is_loop_closure_gui = !is_loop_closure_gui;
 
+    // Ctrl+G: bring the rotation center to the gizmo (session or edge gizmo, both kept in m_gizmo).
+    if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_G, false))
+    {
+        const bool session_gizmo_visible = std::any_of(
+            sessions.begin(),
+            sessions.end(),
+            [](const Session& s)
+            {
+                return s.is_gizmo && !s.is_ground_truth && !s.point_clouds_container.point_clouds.empty();
+            });
+        if (session_gizmo_visible || (edge_gizmo && !edges.empty()))
+            setNewRotationCenter(Eigen::Map<const Eigen::Matrix4f>(m_gizmo).block<3, 1>(0, 3).cast<double>());
+    }
+
     if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_O, false))
         openProject();
 
@@ -3904,12 +3918,9 @@ void mouse(int glut_button, int state, int x, int y)
                     io.KeyShift,
                     time_stamp_offset);
             }
-            else
+            else if (io.KeyCtrl)
             {
-                if (update_rotation_center)
-                {
-                    setNewRotationCenter(x, y);
-                }
+                setNewRotationCenterToClosestTrajectoryPoint(sessions, x, y);
             }
         }
 
diff --git a/apps/multi_session_registration/raylib_utils.cpp b/apps/multi_session_registration/raylib_utils.cpp
index 7d8a0618..7d6a0eae 100644
--- a/apps/multi_session_registration/raylib_utils.cpp
+++ b/apps/multi_session_registration/raylib_utils.cpp
@@ -542,6 +542,35 @@ void getClosestTrajectoriesPoint(
     camera.moveEulerRotationCenterTo(center);
 }
 
+void setNewRotationCenterToClosestTrajectoryPoint(const std::vector<Session>& sessions, int x, int y)
+{
+    const auto laser_beam = GetLaserBeam(x, y);
+    double min_distance = std::numeric_limits<double>::max();
+    Eigen::Vector3d center;
+
+    for (const auto& session : sessions)
+    {
+        if (!session.visible)
+            continue;
+        for (const auto& pc : session.point_clouds_container.point_clouds)
+            for (const auto& node : pc.local_trajectory)
+            {
+                Eigen::Vector3d vp = pc.m_pose * node.m_pose.translation();
+                double dist = distance_point_to_line(vp, laser_beam);
+                if (dist < min_distance)
+                {
+                    min_distance = dist;
+                    center = vp;
+                }
+            }
+    }
+
+    if (min_distance == std::numeric_limits<double>::max())
+        setNewRotationCenter(x, y);
+    else
+        setNewRotationCenter(center);
+}
+
 void setNewRotationCenter(int x, int y)
 {
     RegistrationPlaneFeature::Plane pl;
diff --git a/apps/multi_session_registration/raylib_utils.h b/apps/multi_session_registration/raylib_utils.h
index aa12d9c9..964e4b05 100644
--- a/apps/multi_session_registration/raylib_utils.h
+++ b/apps/multi_session_registration/raylib_utils.h
@@ -101,6 +101,9 @@ void getClosestTrajectoriesPoint(
     int& index_loop_closure_target,
     bool KeyShift,
     double& time_stamp_offset);
+//! Ctrl + middle/right click outside loop closure picking (like Step 2): moves the rotation center to the
+//! trajectory point of a visible session closest to the mouse ray, or to the z = 0 plane if there is none.
+void setNewRotationCenterToClosestTrajectoryPoint(const std::vector<Session>& sessions, int x, int y);
 void setNewRotationCenter(int x, int y);
 //! Moves the rotation center directly to a known world point (e.g. the gizmo's position),
 //! skipping the screen-pick raycast the (x, y) overload does.