In order to solve the problem of huge time cost in the registration process of multi-angle point cloud data

the rapid calculation method is represent in this paper based on computer cluster

which can parallel the traditional registration method of point cloud data. The method can not only acquire the right calculation results

but also show its advantage while the computation burden gets heavier. Experiments were done based on point cloud data with 500000 points in one-single angle. Experiments results show that the rapid method from this paper can provide a speedup ratio from 0.98 to 3.91 while the point cloud data angle increase from 2 to 6. At the meantime

the traditional registration method lead to huge computation time cost. The experiments results prove that the method represent in this paper can reduce the registration time of point cloud data efficiently.