Abstract: A novel algorithm has been proposed to remove the redundancy points in the overlapped regions when structured light scanning system works at different angles.All the external parameters in different views are oriented absolutely to a global coordinate system, and the 3D points in current view are reprojected to the last scanned image.If the reprojected image points are triangularized in last scan process, and the distance between the points between current scan and the last scan is larger than agiven threshold value, the 3D points of current scan are preserved.Otherwise, the points with small reprojected residual are preserved.If the reprojected image points are not triangularized in last scan, 3D points in current view are preserved.Both theoretical analysis and experimental results demonstrate that the new algorithm has the benefit of removing the lower accuracy points and preserving more detailed information of the surface with large curvature, with the total data density remaining the same as single view scanning.