diff --git a/apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp b/apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
index 09d830f0..3a127c63 100644
--- a/apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
+++ b/apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
@@ -363,8 +363,7 @@ void find_best_stretch(
                 // }
             }
         }
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
         update_rgd(rgd_params, my_buckets, points_global2, trajectory_stretched[0].translation());
 
diff --git a/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp b/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
index 61be7ca6..77831d42 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
@@ -392,8 +392,7 @@ void find_best_stretch(
                 // }
             }
         }
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
         update_rgd(rgd_params, my_buckets, points_global2, trajectory_stretched[0].translation());
 
@@ -1819,7 +1818,7 @@ void display()
 
     if (show_reference_buckets_indoor)
     {
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor);
         glColor3f(1, 0, 0);
         glBegin(GL_POINTS);
         for (const auto& b : params.buckets_indoor)
@@ -1829,7 +1828,7 @@ void display()
 
     if (show_reference_buckets_outdoor)
     {
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock2(params.mutex_buckets_outdoor);
         glColor3f(0, 0, 1);
         glBegin(GL_POINTS);
         for (const auto& b : params.buckets_outdoor)
@@ -1839,14 +1838,14 @@ void display()
 
     if (show_covs_indoor)
     {
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor);
         for (const auto& b : params.buckets_indoor)
             draw_ellipse(b.second.cov, b.second.mean, Eigen::Vector3f(1.0f, 0.0f, 0.0f), 3);
     }
 
     if (show_covs_outdoor)
     {
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock2(params.mutex_buckets_outdoor);
         for (const auto& b : params.buckets_outdoor)
             draw_ellipse(b.second.cov, b.second.mean, Eigen::Vector3f(0.0f, 0.0f, 1.0f), 3);
     }
diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp b/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
index 547665d5..d13e97ae 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
@@ -2286,8 +2286,7 @@ bool initialize_lidar_odometry(
         // params.buckets_outdoor.clear();
         if (params.ablation_study_use_hierarchical_rgd)
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd_hierarchy(
                 params.in_out_params_indoor,
@@ -2300,8 +2299,7 @@ bool initialize_lidar_odometry(
         }
         else
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd(params.in_out_params_indoor, params.buckets_indoor, pp, params.m_g.translation(), &lookup_stats.indoor_lookups);
         }
@@ -2437,8 +2435,7 @@ bool process_worker_step_2(
 
     if (params.use_robust_and_accurate_lidar_odometry)
     {
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
         auto tr = worker_data.intermediate_trajectory;
         auto trmm = worker_data.intermediate_trajectory_motion_model;
@@ -2591,8 +2588,7 @@ bool process_worker_step_lidar_odometry_core(
 
     for (int iter = 0; iter < params.nr_iter; iter++)
     {
-        std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-        std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+        std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
         iter_end = iter;
         delta = 100000.0;
@@ -2689,8 +2685,7 @@ bool process_worker_step_update_rgd_after(
 
         if (params.ablation_study_use_hierarchical_rgd)
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd_hierarchy(
                 params.in_out_params_indoor,
@@ -2703,8 +2698,7 @@ bool process_worker_step_update_rgd_after(
         }
         else
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd(
                 params.in_out_params_indoor,
@@ -2727,8 +2721,7 @@ bool process_worker_step_update_rgd_after(
         }
         if (params.ablation_study_use_hierarchical_rgd)
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd_hierarchy(
                 params.in_out_params_indoor,
@@ -2741,8 +2734,7 @@ bool process_worker_step_update_rgd_after(
         }
         else
         {
-            std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
-            std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
+            std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);
 
             update_rgd(
                 params.in_out_params_indoor,
diff --git a/apps/manual_color/manual_color.cpp b/apps/manual_color/manual_color.cpp
index a0eef696..0c24a1c2 100644
--- a/apps/manual_color/manual_color.cpp
+++ b/apps/manual_color/manual_color.cpp
@@ -1391,7 +1391,7 @@ void mouse(int glut_button, int state, int x, int y)
                     [&](const mandeye::PointRGB& p)
                     {
                         double D = GetDistanceToRay(p.point, SystemData::clickedRay);
-                        std::lock_guard<std::mutex> guard(mtx);
+                        std::scoped_lock guard(mtx);
                         if (D < distanceIndexPair.first)
                         {
                             // Assume that SystemData::point is an array-like type implementation, naked pointer arithmetic ahead:
diff --git a/apps/quick_start_demo/quick_start_demo.cpp b/apps/quick_start_demo/quick_start_demo.cpp
index 805f950c..d3e782b0 100644
--- a/apps/quick_start_demo/quick_start_demo.cpp
+++ b/apps/quick_start_demo/quick_start_demo.cpp
@@ -282,7 +282,7 @@ void display()
     }*/
 
     {
-        std::lock_guard<std::mutex> lock(renderPtrLock);
+        std::scoped_lock lock(renderPtrLock);
 
         glLineWidth(2);
         glColor3f(0.0, 1.0, 0.0);
@@ -554,7 +554,7 @@ bool compute_step_2_demo(std::vector<WorkerData> &worker_data, LidarOdometryPara
             std::cout << "optimizing worker_data [" << i + 1 << "] of " << worker_data.size() << " acc_distance: " << acc_distance << " elapsed time: " << elapsed_seconds1.count() << std::endl;
 
             {
-                std::lock_guard<std::mutex> lock(renderPtrLock);
+                std::scoped_lock lock(renderPtrLock);
 
                 for (int k = 0; k < worker_data[i].intermediate_points.size(); k++)
                 {
@@ -1104,7 +1104,7 @@ int main(int argc, char *argv[])
                    {
         compute_step_2_demo(worker_data, params, ts_failure);
         {
-        std::lock_guard<std::mutex> lock(renderPtrLock);
+        std::scoped_lock lock(renderPtrLock);
 
         std::vector<Eigen::Vector3d> global_pointcloud;
         std::vector<unsigned short> intensity;