How to improve the stability and accuracy of the algorithms for point clouds splicing was studied

and a hybrid positioning point clouds pre-splicing algorithm based on least square method was advanced

and the detailed algorithm was given

and a precise algorithm based on total least squares method was presented

and the optimization of existing ICP algorithms was achieved

and the global convergence and the stability of the algorithm were ensured

and the number of iterations was reduced

and the accuracy and efficiency of the algorithm was improved.