Abstract: A method for the coarse registration of range images based on texture features is proposed.By the method,the feature pixel-pairs in two texture images are identified automatically by cross-correlation, and the validity-checking of these pixel-pairs is implemented through Hausdorff distance comparison.The correspondence between the texture image and range image helps to acquire the range point-pairs,and the initial transform of two range images is calculated by the least-square technique.With this initial transform, the fine registration is achieved by Texture ICP algorithm.Not only can this method deal with the registration of two free-form surfaces,but also the objects with highly symmetric shapes.The experiment demonstrates the efficiency of the algorithm.