In this paper

we propose a new geometric registration algorithm which can register multi-view range data of 3D free-form object efficiently. This method is based on the Iterative Closest Point(ICP) algorithm

but adding a restriction to the corresponding points in estimation of optimal rotation matrix. Further more

we takes a membership of weighting value to points of 3D surface reconstructed using structure lighting to reduce the reconstruction error influence to the registration. The experiments demonstrate the feasibility of our approach.