A robust natural feature based parallel registration method is proposed. The method uses two threads for registration on a dual-core computer

one thread using KLT for tracking

while the other using Surf to reset the accumulated-errors. Delayed-homography is proposed to solve the problem of thread Synchronization. At the same time

the idea of key-frame

which is defined in this paper

increased the accuracy and stability of the registration. The experiment result proved that the multi-thread method solved the problem of accumulated-errors

and it is a robust feature based real-time registration method.