Abstract: A novel algorithm on registration of multi-view range images is proposed.Firstly,a method for transferring a range image to a feature image is performed,where the pixel information and the curvature information on the range image is used.Secondly,the keypoints and their matching relationships on the feature images are constructed by using the SIFT algorithm.The matching relationships among the original range images are obtained accordingly.Lastly,false matches are deleted by a voting and pre-registering scheme,and then multi-view range images are registered incrementally into a common frame according to the correct matches.Experimental results on both synthetic and real models demonstrate that the algorithm is robust and effective.