In order to solve the problems of unstable operation and slow processing speed of the traditional ICP algorithm,the shortcomings of the traditional ICP algorithm are analyzed and improved.First of all,in order to solve the problem of iterative direction error that the traditional ICP algorithm is prone to,the point number of the target point set is disrupted,and then a one-to-one approach is selected when finding the closest point at the target point.In terms of the processing speed of the algorithm,the mismatched point pairs are eliminated by setting a dynamic threshold,the number of iterations of the ICP algorithm are reduced,and the processing speed of the algorithm is improved.