The three-dimensional shape measurement has been widely used in a lot of applications such as traffic, entertainment, architecture design, manufacturing and archeology. The paper simplifies the principle of structured-light triangulation with the constraints of light-plane and takes the radial lens distortion during CCD imaging into account, which is able to improve the system accuracy. In order to release the limit of spatial and temporal stereo in the structured light system and improve the process rate and accuracy, the system utilizes the space-time stripe boundary coded patterns. ICP (Iterative Closest Points) is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is given, or the relative motion is small. According to the features of data from structured light acquisition system, the paper utilizes the advanced matching algorithm, which is based on projection. This algorithm is easer and more accurate than conventional ICP.