The success of 3-D measurement of a complex surface depends on the accuracy of registration of the 3-D data acquired in different views.Study shows the methods of matching by point to point and point to triangular surface can be easily affected by noises

and that by consistency of surfaces may have huge quantity of calculations and fail when the objects are planes or spheres.The iterative closest points（ICP） algorithm is applied on points selected from the overlapping area within the cube where the marking points exist in coarse registration.The point pairs are selected firstly by the closest distance from a point in one view to the adjacent multi-tangent planes of a point in another view

and secondly by the principle of maximum geometric similarity in different views.The improved ICP algorithm makes an automatic and rapid postitioning of the overlapping area

the precise registration of point cloud in different views and its precision is better than 0.01 mm in several experimental instances.