3D surface registration is a challenging problem and it has many applications ranging from 3D reconstruction to object detection and recognition. This paper introduces a new 3D surface presentation approach for the 3D surface registration termed angle signature (AS). The proposed method captures the local geometry information of the given point and encodes it into a vector

so it is invariant to rigid transformation. Therefore

it is possible to implement fast registration owing to this simple representation. This method performs robustly against error of estimated normal caused by noise compared with other surface representations. In order to enhance the speed of the algorithm

this approach selects a small set of featured points and calculates their signatures. Registration is based on finding at least three points correspondence between two surfaces and the transformation parameters can be calculated. The results of the experiments show surface registration using angle signature has desirable speed and accuracy.