Through quick, accurate and non-contact scan, Terrestrial 3D Laser Scanner can get high density point cloud data. But limited by the scanning range, Terrestrial 3D Laser Scanner could not finish scanning data at one time. Therefore, in order to reconstruct a three-dimensional model of the object, we must get the point cloud data from different perspectives; Next, finish the registration of the multi-view point data; Finally, realize the 3D visualization. The point cloud data registration is the key to the 3D visualization of complete object. Traverse survey is proposed as a new point cloud data registration method in this paper, this method is based on traversing principle, according to the conventional control survey, synchronization of scanning and control measure can be realized, and the efficiency of the Terrestrial 3D Laser Scanner will be improved. By comparing the result of different methods, the mean square error of a point got by the traverse survey data registration method is equally distributed and not affected by the time of registration. So, the point cloud data registration of traverse survey is with certain operability.