Aiming at the problem of estimating the motion parameters of depth camera,a new estimation method without iteration is proposed. Firstly,the initial match of different viewpoints is completed according to extraction and description method of the image feature points. Secondly,the two feature points with smallest distance from the initial matching are selected as seed points. Based on the independence of Euclidean distance and coordinate system in 3D space,the initial match is filtered to eliminate the mismatch points. Then,the motion parameters are calculated. Finally,in order to verify the feasibility and correctness of the proposed algorithm,experiments are carried out in the open database nyuv2. The results show that the proposed method can improve the computational efficiency by 8 times or more compared with the traditional algorithm,and it is especially suitable for large scale SLAM.