Range image can be obtained by 3D-Scanning and needs registration. Based on the classic ICP (Iterative Closest Point)
algorithm, this paper presents an improved ICP method. The classic ICP uses the 3D point-to-point distance as the error
measurement function. In our paper, the point-to-point distance will be replaced by a point-to-facet distance. By formula
derivation, this measurement function can be transformed into facet-weighted point-to-point distance. We apply this
method for range image registration and the result shows the validity of this algorithm, which has faster convergence rate
and better anti-noise attribute than previously described weighted ICP methods.