Abstract: Aiming at the problem of point clouds registration without prior information on transformation, a novel registration algorithm is proposed based on geometric properties of point clouds. Firstly, all the pairwise points are searched by taking the curvature of point clouds as the registration relationship. Secondly, by using Euclid distance to match the pairwise points, and by introducing the geometric properties of vectors of rigid body transformation to eliminate the mismatch points, this algorithm can obtain the effective coupling points to compute original transform matrix. Finally, by using ICP algorithm to modify the former result, the optimal registration can be achieved. Experimental results show that the proposed algorithm is robust and can register the point clouds of different scans.