三维点集配准问题是计算机技术中的一个极其重要的问题，作为解决三维点集配准问题的一个应用较为广泛的算法，ICP算法得到了研究者的关注，本文以一种全新的思路从配准元素的选择、配准策略的确定和误差函数的求解等3个方面对三维点集配准的ICP算法的各种改进和优化进行了分类和总结。-3D point set registration problem is an extremely important problem in computer technology, is widely used as an application to solve the problem of the 3D point set registration algorithm, the ICP algorithm to get the attention of the researchers in a whole new way of thinking from the registration classification and element selection, registration strategies to identify and error function solving the three aspects of the improvement and optimization of various 3D point set registration ICP algorithm.