Point-clouds registration is widely applied in reverse-engineering

computer vision and medical imaging

etc.Based on the combined transformation theory of the space coordinates

a registration method

which extracts the transition matrix with multi-points based on least-square method to minimize the transition error

is proposed.Some typical methods are specified and analyzed with practical examples in this paper.Experimental results show that this approach can realize point-clouds registration as the features of rapid speed

high accuracy

stability and simple operation.It is powerful for practical engineering.