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。(The three-dimensional point set registration problem is an extremely important issue in computer technology. As an extensively applied algorithm for solving the three-dimensional point set registration problem, the ICP algorithm has attracted the attention of researchers, and this paper uses a new idea from the registration. The selection of elements, the determination of the registration strategy and the solution of the error function are classified and summarized in three aspects of the various improvements and optimizations of the ICP algorithm for 3D point set registration.)