Visual method including binocular stereo vision method and monocular vision method of the relative\nposition and pose measurement for space target has become relatively mature, and many researchers\nfocus on the method based on three-dimension measurement recently. ICP alignment,\nwhich is the key of three-dimension pattern measurement method, has the problem of low efficiency\nin large data sets. Considering this problem, an improved ICP algorithm is proposed in this\npaper. The improved ICP algorithm is the combination of the original ICP algorithm and KD-TREE.\nThe experimental comparison between the improved ICP algorithm and the traditional ICP algorithm\nin efficiency has been given in this paper, which shows that the improved ICP algorithm can\nget much better performance.
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