The irregular surface registration is a challenging issue in the three dimensional registration. This paper proposed an approach to point cloud coarse registration by using the distance between an irregular surface point and the center of mass of its one length neighboring points as the rigid feature

and to point cloud fine registration by the iteration close point algorithm and rigid feature. The experimental results show that the error convergence rate of the rigid feature iteration close point algorithm is significantly improved. And then

both the convergence rate and the registration quality of the algorithm are improved

compared with iteration close point algorithm that not have coarse registration

when point clouds which the distance between the center of gravity is bigger than 10.