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With widening application of 3D measurement technology, the demand for cloud point data processing technology is becoming more and more urgent, and the multi view point cloud registration is one of the fundamental technologies.A point cloud registration algorithm combining SIFT algorithm with threshold selection is proposed to overcome the disadvantages of the traditional ICP algorithm, such as poor robustness, sensitive to iterative initial value and low computational efficiency.Firstly, the initial matching set between the reference point cloud and the point cloud to be registered is obtained by calculating the SIFT key points and their main curvatures;then rotation and translation between corresponding are optimized based on the similar triangle threshold and the vector angle threshold.Experiments show that, compared with the traditional algorithm, the improved algorithm can achieve accurate registration results in shorter time, and it is highly automated and can effectively improve the efficiency and accuracy of point cloud registration.