Abstract: For acquiring surface data of sample part in reverse engineering, multiple scanning of measuring process is usually required to adapt to the configuration or topology of the part. We propose a data set registration method based on three datum-points which are measured repeatedly in different coordinate systems to formulate the rotation and translation matrices for data mapping. Least-square method is utilized to counteract the measurement noise error.This approach was tested on a motorcycle surface clay model, the overall shape of reconstructed part surface is accurate and fitting along its boundary is fine, it meets the required design precision well.