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The article describes a different perspective on the basis of three-dimensional point cloud pairwise data registration,for accurate matching algorithms ICP need to make an initial point cloud convergence, otherwise unable to obtain accurate matching results, this artice proposes a feature based on FPFH Descriptors coarse matching feature method.Adjust the initial position of two point clouds for ICP algorithm provides a good initial position to further improve the matching precision point cloud. And on this basis to get through a lot of experiments as a function of the largest point distance and the best fitness score between correspondence pairs to obtain the optimal value match, it is proved that coarse matching can make the best fitness score up to 60.3%.