Firstly, perform feature extraction on the two groups of input point clouds to obtain the feature representations F ^P and F ^Q respectively. Then, the point matching module completes the point correspondence relationship mining based on the features. Subsequently, the RANSAC algorithm is used for pose estimation to solve the transformation parameters (R, T) (rotation, translation). Finally, the 3D registration of the two groups of point clouds was completed based on this transformation to achieve point cloud alignment.